GazeStabInputOutput.cc

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#include "GazeStabInputOutput.hh"
 
// input
 
GazeStabInput::GazeStabInput(int n_LB_joints, int n_UB_joints)
{
    tsim = 0.;
 
    q_LB.reserve(n_LB_joints);
    q_UB.reserve(n_UB_joints);
    qd_LB.reserve(n_LB_joints);
    qd_UB.reserve(n_UB_joints);
 
    qd_LB_des = Eigen::VectorXd::Zero(n_LB_joints);
 
    for (int i = 0; i < n_LB_joints; i++)
    {
        q_LB[i] = 0.;
        qd_LB[i] = 0.;
    }
 
    pos_target << 1.150, 6.69, 1.1;
}
 
GazeStabInput::~GazeStabInput()
    = default;
 
// output
 
GazeStabOutput::GazeStabOutput(int n_UB_joints)
{
    qd_UB_des.reserve(n_UB_joints);
 
}
 
GazeStabOutput::~GazeStabOutput()
    = default;