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PatternGeneratorJRL::linear_dynamics_s Struct Reference

#include <PreviewControl/rigid-body.hh>

Public Member Functions

void clear ()
 

Public Attributes

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