GazeStabInputOutput.hh
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#pragma once
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#include <Eigen/Dense>
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#include <vector>
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class
GazeStabInput
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{
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public
:
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GazeStabInput
(
int
n_LB_joints,
int
n_UB_joints);
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~GazeStabInput
();
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double
tsim
;
// time [s]
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std::vector<double>
q_LB
;
// Lower Body joints configuration [rad and m]
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std::vector<double>
q_UB
;
// Upper Body (neck and eyes) joints configuration [rad]
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std::vector<double>
qd_LB
;
// Lower Body joints velocity [rad/s and m/s]
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std::vector<double>
qd_UB
;
// Upper Body (neck and eyes) joints velocity [rad/s]
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Eigen::VectorXd
qd_LB_des
;
// Lower Body joints velocity references (command copy) [rad/s]
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Eigen::Vector3d
pos_target
;
// position in world frame of the target [m]
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};
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class
GazeStabOutput
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{
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public
:
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GazeStabOutput
(
int
n_UB_joints);
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~GazeStabOutput
();
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std::vector<double>
qd_UB_des
;
// Upper Body joints velocity references (command copy) [rad/s]
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};
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GazeStabOutput
Definition:
GazeStabInputOutput.hh:26
GazeStabOutput::~GazeStabOutput
~GazeStabOutput()
GazeStabInput::pos_target
Eigen::Vector3d pos_target
Definition:
GazeStabInputOutput.hh:22
GazeStabInput::~GazeStabInput
~GazeStabInput()
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
Definition:
GazeStabInputOutput.hh:6
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
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GazeStabInputOutput.hh
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