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... | |
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.
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.