#include <Mathematics/intermediate-qp-matrices.hh>
Public Attributes | |
reference_t | Ref |
Objective independent QP elements. | |
com_t | CoM |
State of the Center of Mass. | |
trunk_t | Trunk |
TrunkState. | |
boost_ublas::matrix< double > | V |
Selection matrix for the previewed feet positions. | |
boost_ublas::matrix< double > | Vshift |
Shifted selection matrix for the previewed feet positions. | |
boost_ublas::matrix< double > | VT |
Transpose of V. | |
boost_ublas::vector< double > | VcX |
Selection matrix multiplied with the current foot position. | |
boost_ublas::vector< double > | VcY |
boost_ublas::vector< double > | VcshiftX |
Shifted selection matrix multiplied with the current feet position. | |
boost_ublas::vector< double > | VcshiftY |
boost_ublas::vector< double > | Vc_fX |
Selection matrix for the current foot position. | |
boost_ublas::vector< double > | Vc_fY |
boost_ublas::matrix< double > | V_f |
Selection matrix for relative feet positions. | |
support_state_t | SupportState |
Current support state. |
State of the Center of Mass.
Referenced by PatternGeneratorJRL::IntermedQPMat::CoM().
Objective independent QP elements.
Reference
Referenced by PatternGeneratorJRL::IntermedQPMat::Reference().
Current support state.
Referenced by PatternGeneratorJRL::IntermedQPMat::SupportState().
TrunkState.
Referenced by PatternGeneratorJRL::IntermedQPMat::Trunk().
boost_ublas::matrix<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::V |
Selection matrix for the previewed feet positions.
boost_ublas::matrix<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::V_f |
Selection matrix for relative feet positions.
boost_ublas::vector<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::Vc_fX |
Selection matrix for the current foot position.
boost_ublas::vector<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::Vc_fY |
boost_ublas::vector<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcshiftX |
Shifted selection matrix multiplied with the current feet position.
boost_ublas::vector<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcshiftY |
boost_ublas::vector<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcX |
Selection matrix multiplied with the current foot position.
boost_ublas::vector<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::VcY |
boost_ublas::matrix<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::Vshift |
Shifted selection matrix for the previewed feet positions.
boost_ublas::matrix<double> PatternGeneratorJRL::IntermedQPMat::state_variant_s::VT |
Transpose of V.