GazeStabInputOutput.cc
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1 
2 
3 #include "GazeStabInputOutput.hh"
4 
5 // input
6 
7 GazeStabInput::GazeStabInput(int n_LB_joints, int n_UB_joints)
8 {
9  tsim = 0.;
10 
11  q_LB.reserve(n_LB_joints);
12  q_UB.reserve(n_UB_joints);
13  qd_LB.reserve(n_LB_joints);
14  qd_UB.reserve(n_UB_joints);
15 
16  qd_LB_des = Eigen::VectorXd::Zero(n_LB_joints);
17 
18  for (int i = 0; i < n_LB_joints; i++)
19  {
20  q_LB[i] = 0.;
21  qd_LB[i] = 0.;
22  }
23 
24  pos_target << 1.150, 6.69, 1.1;
25 }
26 
28  = default;
29 
30 // output
31 
33 {
34  qd_UB_des.reserve(n_UB_joints);
35 
36 }
37 
39  = default;
40 
41 
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