PatternGeneratorJRL::COMState_s Struct Reference

Structure to store the COM state computed by the preview control. More...

#include <jrl/walkgen/pgtypes.hh>

List of all members.

Public Member Functions
struct COMState_s &	operator= (const COMPosition_s &aCS)
void	reset ()
	COMState_s ()
Public Attributes
double	x [3]
double	y [3]
double	z [3]
double	yaw [3]
double	pitch [3]
double	roll [3]
Friends
std::ostream &	operator<< (std::ostream &os, const struct COMState_s &acs)

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Detailed Description

Structure to store the COM state computed by the preview control.

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Constructor & Destructor Documentation

PatternGeneratorJRL::COMState_s::COMState_s

(

)

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Member Function Documentation

struct COMState_s& PatternGeneratorJRL::COMState_s::operator=

(

const COMPosition_s &

aCS

)

[read]

void PatternGeneratorJRL::COMState_s::reset

(

)

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const struct COMState_s &	acs
	)		[friend]

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Member Data Documentation

double PatternGeneratorJRL::COMState_s::pitch[3]

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl().

double PatternGeneratorJRL::COMState_s::roll[3]

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl().

double PatternGeneratorJRL::COMState_s::x[3]

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::Interpolation(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl().

double PatternGeneratorJRL::COMState_s::y[3]

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::Interpolation(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl().

double PatternGeneratorJRL::COMState_s::yaw[3]

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl(), and PatternGeneratorJRL::LinearizedInvertedPendulum2D::Interpolation().

double PatternGeneratorJRL::COMState_s::z[3]

Referenced by PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::CallToComAndFootRealization(), PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::FirstStageOfControl(), PatternGeneratorJRL::LinearizedInvertedPendulum2D::Interpolation(), and PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP::OneGlobalStepOfControl().