sobec::OCPSettings Struct Reference

#include <sobec/walk-with-traj/ocp.hpp>

Public Attributes
unsigned long	totalSteps = 4
unsigned long	T = 100
unsigned long	TdoubleSupport = 50
unsigned long	TsimpleSupport = 100
unsigned long	Tstep = TdoubleSupport + TsimpleSupport
unsigned long	ddpIteration = 1
double	Dt = 1e-2
double	simu_step = 1e-3
unsigned long	Nc = (unsigned long)round(Dt / simu_step)
double	stepSize = 0.1
double	stepHeight = 0.03
double	stepDepth = 0.0
double	stepYCorrection = 0.005

Member Data Documentation

ddpIteration

unsigned long sobec::OCPSettings::ddpIteration = 1

Dt

double sobec::OCPSettings::Dt = 1e-2

Nc

unsigned long sobec::OCPSettings::Nc = (unsigned long)round(Dt / simu_step)

simu_step

double sobec::OCPSettings::simu_step = 1e-3

stepDepth

double sobec::OCPSettings::stepDepth = 0.0

stepHeight

double sobec::OCPSettings::stepHeight = 0.03

stepSize

double sobec::OCPSettings::stepSize = 0.1

stepYCorrection

double sobec::OCPSettings::stepYCorrection = 0.005

T

unsigned long sobec::OCPSettings::T = 100

TdoubleSupport

unsigned long sobec::OCPSettings::TdoubleSupport = 50

totalSteps

unsigned long sobec::OCPSettings::totalSteps = 4

TsimpleSupport

unsigned long sobec::OCPSettings::TsimpleSupport = 100

Tstep

unsigned long sobec::OCPSettings::Tstep = TdoubleSupport + TsimpleSupport

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The documentation for this struct was generated from the following file:

• include/sobec/walk-with-traj/ocp.hpp