PatternGeneratorJRL::IntermedQPMat::state_variant_s Struct Reference

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

List of all members.

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.

Member Data Documentation

Objective independent QP elements.

Reference

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

Selection matrix for the previewed feet positions.

Selection matrix for relative feet positions.

Selection matrix for the current foot position.

Shifted selection matrix multiplied with the current feet position.

Selection matrix multiplied with the current foot position.

Shifted selection matrix for the previewed feet positions.

Transpose of V.