GazeStabInputOutput.cc
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#include "
GazeStabInputOutput.hh
"
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// input
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GazeStabInput::GazeStabInput
(
int
n_LB_joints,
int
n_UB_joints)
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{
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tsim
= 0.;
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q_LB
.reserve(n_LB_joints);
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q_UB
.reserve(n_UB_joints);
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qd_LB
.reserve(n_LB_joints);
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qd_UB
.reserve(n_UB_joints);
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qd_LB_des
= Eigen::VectorXd::Zero(n_LB_joints);
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for
(
int
i = 0; i < n_LB_joints; i++)
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{
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q_LB
[i] = 0.;
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qd_LB
[i] = 0.;
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}
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pos_target
<< 1.150, 6.69, 1.1;
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}
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GazeStabInput::~GazeStabInput
()
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=
default
;
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// output
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GazeStabOutput::GazeStabOutput
(
int
n_UB_joints)
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{
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qd_UB_des
.reserve(n_UB_joints);
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}
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GazeStabOutput::~GazeStabOutput
()
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=
default
;
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GazeStabOutput::~GazeStabOutput
~GazeStabOutput()
GazeStabInput::pos_target
Eigen::Vector3d pos_target
Definition:
GazeStabInputOutput.hh:22
GazeStabInput::~GazeStabInput
~GazeStabInput()
GazeStabInputOutput.hh
GazeStabOutput::qd_UB_des
std::vector< double > qd_UB_des
Definition:
GazeStabInputOutput.hh:33
GazeStabInput::GazeStabInput
GazeStabInput(int n_LB_joints, int n_UB_joints)
Definition:
GazeStabInputOutput.cc:7
GazeStabInput::q_UB
std::vector< double > q_UB
Definition:
GazeStabInputOutput.hh:15
GazeStabInput::q_LB
std::vector< double > q_LB
Definition:
GazeStabInputOutput.hh:14
GazeStabInput::tsim
double tsim
Definition:
GazeStabInputOutput.hh:13
GazeStabInput::qd_LB_des
Eigen::VectorXd qd_LB_des
Definition:
GazeStabInputOutput.hh:20
GazeStabOutput::GazeStabOutput
GazeStabOutput(int n_UB_joints)
Definition:
GazeStabInputOutput.cc:32
GazeStabInput::qd_LB
std::vector< double > qd_LB
Definition:
GazeStabInputOutput.hh:17
GazeStabInput::qd_UB
std::vector< double > qd_UB
Definition:
GazeStabInputOutput.hh:18
RobotComponents
components
Feedforward
GazeStabInputOutput.cc
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