PatternGeneratorJRL::COMState_s Struct Reference

Structure to store the COM state computed by the preview control. More...

#include <jrl/walkgen/pgtypes.hh>

Public Member Functions
struct COMState_s &	operator= (const COMPosition_s &aCS)
void	reset ()
	COMState_s ()

Public Attributes
double	x [3]
double	y [3]
double	z [3]
double	yaw [3]
double	pitch [3]
double	roll [3]

Friends
std::ostream &	operator<< (std::ostream &os, const struct COMState_s &acs)

Detailed Description

Structure to store the COM state computed by the preview control.

Constructor & Destructor Documentation

PatternGeneratorJRL::COMState_s::COMState_s

(

)

Member Function Documentation

struct COMState_s& PatternGeneratorJRL::COMState_s::operator=

(

const COMPosition_s &

aCS

)

void PatternGeneratorJRL::COMState_s::reset

(

)

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  os, const struct COMState_s &  acs  )

friend

Member Data Documentation

double PatternGeneratorJRL::COMState_s::pitch[3]

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl().

double PatternGeneratorJRL::COMState_s::roll[3]

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl().

double PatternGeneratorJRL::COMState_s::x[3]

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::GetState(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::Interpolation(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl(), and PatternGeneratorJRL::LinearizedInvertedPendulum2D::setState().

double PatternGeneratorJRL::COMState_s::y[3]

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::GetState(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::Interpolation(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl(), and PatternGeneratorJRL::LinearizedInvertedPendulum2D::setState().

double PatternGeneratorJRL::COMState_s::yaw[3]

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl(), and PatternGeneratorJRL::LinearizedInvertedPendulum2D::Interpolation().

double PatternGeneratorJRL::COMState_s::z[3]

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::GetState(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::Interpolation(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), and PatternGeneratorJRL::LinearizedInvertedPendulum2D::setState().