PatternGeneratorJRL::linear_dynamics_s Struct Reference

#include <PreviewControl/rigid-body.hh>

List of all members.

Public Member Functions

void clear ()

Public Attributes

boost_ublas::matrix< double,
boost_ublas::row_major > 
U
 Control matrix.
boost_ublas::matrix< double > Um1
 Inverse of control matrix.
boost_ublas::matrix< double > UT
 Transpose of control matrix.
boost_ublas::matrix< double,
boost_ublas::row_major > 
S
 State matrix.
dynamics_e Type

Member Function Documentation

void PatternGeneratorJRL::linear_dynamics_s::clear ( ) [inline]

References S, U, and UT.

Referenced by PatternGeneratorJRL::RigidBodySystem::initialize().


Member Data Documentation

boost_ublas::matrix<double,boost_ublas::row_major> PatternGeneratorJRL::linear_dynamics_s::U

Control matrix.

Referenced by clear().

boost_ublas::matrix<double> PatternGeneratorJRL::linear_dynamics_s::Um1

Inverse of control matrix.

boost_ublas::matrix<double> PatternGeneratorJRL::linear_dynamics_s::UT

Transpose of control matrix.

Referenced by clear().