GazeStabInputOutput.hh
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1 #pragma once
2 
3 #include <Eigen/Dense>
4 #include <vector>
5 
7 {
8 public:
9 
10  GazeStabInput(int n_LB_joints, int n_UB_joints);
12 
13  double tsim; // time [s]
14  std::vector<double> q_LB; // Lower Body joints configuration [rad and m]
15  std::vector<double> q_UB; // Upper Body (neck and eyes) joints configuration [rad]
16 
17  std::vector<double> qd_LB; // Lower Body joints velocity [rad/s and m/s]
18  std::vector<double> qd_UB; // Upper Body (neck and eyes) joints velocity [rad/s]
19 
20  Eigen::VectorXd qd_LB_des; // Lower Body joints velocity references (command copy) [rad/s]
21 
22  Eigen::Vector3d pos_target; // position in world frame of the target [m]
23 
24 };
25 
27 {
28 public:
29 
30  GazeStabOutput(int n_UB_joints);
32 
33  std::vector<double> qd_UB_des; // Upper Body joints velocity references (command copy) [rad/s]
34 
35 };
36 
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