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ChppRobotMotionSample Class Reference

This is a stored robot motion sample. More...

#include <hpp/gik/robot/robot-motion.hh>

Public Attributes

matrix4d rootpose
 Root pose. More...
 
vectorN configuration
 OpenHRP configuration of the robot. More...
 
vectorN velocity
 Velocity. More...
 
vectorN acceleration
 Acceleration. More...
 
vector3d ZMPwstPla
 Planned Zero Momentum Point in waist frame. More...
 
vector3d ZMPworPla
 Planned Zero Momentum Point in world frame. More...
 
vector3d ZMPwstObs
 Motion-resulting (Observed) Zero Momentum Point in waist frame. More...
 
vector3d ZMPworObs
 Motion-resulting (Observed) Zero Momentum Point in world frame. More...
 

Detailed Description

This is a stored robot motion sample.

It contains the full configuration of the robot at some time, as well as the position of the ZMP observed and planned , in the waist frame and in the world frame.

Member Data Documentation

vectorN ChppRobotMotionSample::acceleration

Acceleration.

vectorN ChppRobotMotionSample::configuration

OpenHRP configuration of the robot.

matrix4d ChppRobotMotionSample::rootpose

Root pose.

vectorN ChppRobotMotionSample::velocity

Velocity.

vector3d ChppRobotMotionSample::ZMPworObs

Motion-resulting (Observed) Zero Momentum Point in world frame.

vector3d ChppRobotMotionSample::ZMPworPla

Planned Zero Momentum Point in world frame.

vector3d ChppRobotMotionSample::ZMPwstObs

Motion-resulting (Observed) Zero Momentum Point in waist frame.

vector3d ChppRobotMotionSample::ZMPwstPla

Planned Zero Momentum Point in waist frame.