PatternGeneratorJRL::IntermedQPMat::state_variant_s Struct Reference

#include <Mathematics/intermediate-qp-matrices.hh>

Public Attributes
reference_t	Ref
	Objective independent QP elements. More...
com_t	CoM
	State of the Center of Mass. More...
trunk_t	Trunk
	TrunkState. More...
Eigen::MatrixXd	V
	Selection matrix for the previewed feet positions. More...
Eigen::MatrixXd	Vshift
	Shifted selection matrix for the previewed feet positions. More...
Eigen::MatrixXd	VT
	Transpose of V. More...
Eigen::VectorXd	VcX
	Selection matrix multiplied with the current foot position. More...
Eigen::VectorXd	VcY
Eigen::VectorXd	VcshiftX
	Shifted selection matrix multiplied with the current feet position. More...
Eigen::VectorXd	VcshiftY
Eigen::VectorXd	Vc_fX
	Selection matrix for the current foot position. More...
Eigen::VectorXd	Vc_fY
Eigen::MatrixXd	V_f
	Selection matrix for relative feet positions. More...
support_state_t	SupportState
	Current support state. More...

Member Data Documentation

com_t PatternGeneratorJRL::IntermedQPMat::state_variant_s::CoM

State of the Center of Mass.

Referenced by PatternGeneratorJRL::IntermedQPMat::CoM().

reference_t PatternGeneratorJRL::IntermedQPMat::state_variant_s::Ref

Objective independent QP elements.

Reference

Referenced by PatternGeneratorJRL::IntermedQPMat::Reference().

support_state_t PatternGeneratorJRL::IntermedQPMat::state_variant_s::SupportState

Current support state.

Referenced by PatternGeneratorJRL::IntermedQPMat::SupportState().

trunk_t PatternGeneratorJRL::IntermedQPMat::state_variant_s::Trunk

TrunkState.

Referenced by PatternGeneratorJRL::IntermedQPMat::Trunk().

Eigen::MatrixXd PatternGeneratorJRL::IntermedQPMat::state_variant_s::V

Selection matrix for the previewed feet positions.

Eigen::MatrixXd PatternGeneratorJRL::IntermedQPMat::state_variant_s::V_f

Selection matrix for relative feet positions.

Eigen::VectorXd PatternGeneratorJRL::IntermedQPMat::state_variant_s::Vc_fX

Selection matrix for the current foot position.

Eigen::VectorXd PatternGeneratorJRL::IntermedQPMat::state_variant_s::Vc_fY

Eigen::VectorXd PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcshiftX

Shifted selection matrix multiplied with the current feet position.

Eigen::VectorXd PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcshiftY

Eigen::VectorXd PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcX

Selection matrix multiplied with the current foot position.

Eigen::VectorXd PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcY

Eigen::MatrixXd PatternGeneratorJRL::IntermedQPMat::state_variant_s::Vshift

Shifted selection matrix for the previewed feet positions.

Eigen::MatrixXd PatternGeneratorJRL::IntermedQPMat::state_variant_s::VT

Transpose of V.