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25 #include <ArmarXCore/interface/serialization/Eigen.h>
std::shared_ptr< JSMPInput > JSMPInputPtr
namespace armarx::control::common::control_law
std::shared_ptr< JSMPOutput > JSMPOutputPtr
Eigen::VectorXf angularVel
void Identity(MatrixXX< N, N, T > *a)
std::shared_ptr< JSMP > JSMPPtr
std::shared_ptr< MPInput > MPInputPtr
void run(MPInputPtr, MPOutputPtr) override
Eigen::Quaterniond previousAngularVelocity
std::shared_ptr< MPOutput > MPOutputPtr
Quaternion< double, 0 > Quaterniond
Eigen::VectorXf angleRadian