1 #ifndef JPOS_INITIALIZER 2 #define JPOS_INITIALIZER
bool IsInitialized(LegController< T > *)
std::vector< T > _ini_jpos
Data structure containing parameters for quadruped robot.
BS_Basic< T, cheetah::num_act_joint, 3, 1, 2, 2 > _jpos_trj
JPosInitializer(T end_time)
std::vector< T > _target_jpos
Common Leg Control Interface and Leg Control Algorithms.
std::vector< T > _mid_jpos
void _UpdateInitial(const LegController< T > *ctrl)