GazeStabInputOutput.hh

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