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PatternGeneratorJRL::IntermedQPMat::state_variant_s Struct Reference

#include <Mathematics/intermediate-qp-matrices.hh>

Public Attributes

reference_t Ref
 Objective independent QP elements. More...
 
com_t CoM
 State of the Center of Mass. More...
 
trunk_t Trunk
 TrunkState. More...
 
boost_ublas::matrix< double > V
 Selection matrix for the previewed feet positions. More...
 
boost_ublas::matrix< double > Vshift
 Shifted selection matrix for the previewed feet positions. More...
 
boost_ublas::matrix< double > VT
 Transpose of V. More...
 
boost_ublas::vector< double > VcX
 Selection matrix multiplied with the current foot position. More...
 
boost_ublas::vector< double > VcY
 
boost_ublas::vector< double > VcshiftX
 Shifted selection matrix multiplied with the current feet position. More...
 
boost_ublas::vector< double > VcshiftY
 
boost_ublas::vector< double > Vc_fX
 Selection matrix for the current foot position. More...
 
boost_ublas::vector< double > Vc_fY
 
boost_ublas::matrix< double > V_f
 Selection matrix for relative feet positions. More...
 
support_state_t SupportState
 Current support state. More...
 

Member Data Documentation

◆ CoM

com_t PatternGeneratorJRL::IntermedQPMat::state_variant_s::CoM

State of the Center of Mass.

Referenced by PatternGeneratorJRL::IntermedQPMat::CoM().

◆ Ref

reference_t PatternGeneratorJRL::IntermedQPMat::state_variant_s::Ref

Objective independent QP elements.

Reference

Referenced by PatternGeneratorJRL::IntermedQPMat::Reference().

◆ SupportState

support_state_t PatternGeneratorJRL::IntermedQPMat::state_variant_s::SupportState

Current support state.

Referenced by PatternGeneratorJRL::IntermedQPMat::SupportState().

◆ Trunk

trunk_t PatternGeneratorJRL::IntermedQPMat::state_variant_s::Trunk

TrunkState.

Referenced by PatternGeneratorJRL::IntermedQPMat::Trunk().

◆ V

boost_ublas::matrix<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::V

Selection matrix for the previewed feet positions.

◆ V_f

boost_ublas::matrix<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::V_f

Selection matrix for relative feet positions.

◆ Vc_fX

boost_ublas::vector<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::Vc_fX

Selection matrix for the current foot position.

◆ Vc_fY

boost_ublas::vector<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::Vc_fY

◆ VcshiftX

boost_ublas::vector<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcshiftX

Shifted selection matrix multiplied with the current feet position.

◆ VcshiftY

boost_ublas::vector<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcshiftY

◆ VcX

boost_ublas::vector<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcX

Selection matrix multiplied with the current foot position.

◆ VcY

boost_ublas::vector<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcY

◆ Vshift

boost_ublas::matrix<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::Vshift

Shifted selection matrix for the previewed feet positions.

◆ VT

boost_ublas::matrix<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::VT

Transpose of V.