#include <LegController.h>

Inheritance diagram for LegControllerCommand< T >:

Collaboration diagram for LegControllerCommand< T >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	LegControllerCommand ()

void	zero ()

Public Attributes
Vec3< T >	tauFeedForward

Vec3< T >	forceFeedForward

Vec3< T >	qDes

Vec3< T >	qdDes

Vec3< T >	pDes

Vec3< T >	vDes

Mat3< T >	kpCartesian

Mat3< T >	kdCartesian

Mat3< T >	kpJoint

Mat3< T >	kdJoint

Detailed Description

template<typename T>
struct LegControllerCommand< T >

Definition at line 23 of file LegController.h.

Constructor & Destructor Documentation

template<typename T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW LegControllerCommand< T >::LegControllerCommand ( )

inline

Definition at line 25 of file LegController.h.

25 { zero(); }

LegControllerCommand::zero

void zero()

Definition: LegController.cpp:19

Member Function Documentation

template<typename T >

void LegControllerCommand< T >::zero ( )

Zero the leg command so the leg will not output torque

Definition at line 19 of file LegController.cpp.

                                    {
   tauFeedForward = Vec3<T>::Zero();
   forceFeedForward = Vec3<T>::Zero();
   qDes = Vec3<T>::Zero();
   qdDes = Vec3<T>::Zero();
   pDes = Vec3<T>::Zero();
   vDes = Vec3<T>::Zero();
   kpCartesian = Mat3<T>::Zero();
   kdCartesian = Mat3<T>::Zero();
   kpJoint = Mat3<T>::Zero();
   kdJoint = Mat3<T>::Zero();
 }