LegControllerData< T > Struct Template Reference

#include <LegController.h>

Inheritance diagram for LegControllerData< T >:

Collaboration diagram for LegControllerData< T >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	LegControllerData ()
void	setQuadruped (Quadruped< T > &quad)
void	zero ()

Public Attributes
Vec3< T >	q
Vec3< T >	qd
Vec3< T >	p
Vec3< T >	v
Mat3< T >	J
Vec3< T >	tauEstimate
Quadruped< T > *	quadruped

Detailed Description

template<typename T>
struct LegControllerData< T >

Definition at line 34 of file LegController.h.

Constructor & Destructor Documentation

template<typename T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW LegControllerData< T >::LegControllerData ( )

inline

Definition at line 36 of file LegController.h.

{ zero(); }

Member Function Documentation

template<typename T>

void LegControllerData< T >::setQuadruped ( Quadruped< T > &  quad )

inline

Definition at line 38 of file LegController.h.

{ quadruped = &quad; }

template<typename T >

void LegControllerData< T >::zero

(

)

Definition at line 33 of file LegController.cpp.

                                {
  q = Vec3<T>::Zero();
  qd = Vec3<T>::Zero();
  p = Vec3<T>::Zero();
  v = Vec3<T>::Zero();
  J = Mat3<T>::Zero();
  tauEstimate = Vec3<T>::Zero();
}

Member Data Documentation

template<typename T>

Mat3<T> LegControllerData< T >::J

Definition at line 43 of file LegController.h.

template<typename T>

Vec3<T> LegControllerData< T >::p

Definition at line 42 of file LegController.h.

template<typename T>

Vec3<T> LegControllerData< T >::q

Definition at line 42 of file LegController.h.

template<typename T>

Vec3<T> LegControllerData< T >::qd

Definition at line 42 of file LegController.h.

template<typename T>

Quadruped<T>* LegControllerData< T >::quadruped

Definition at line 45 of file LegController.h.

template<typename T>

Vec3<T> LegControllerData< T >::tauEstimate

Definition at line 44 of file LegController.h.

template<typename T>

Vec3<T> LegControllerData< T >::v

Definition at line 42 of file LegController.h.

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The documentation for this struct was generated from the following files:

• LegController.h
• LegController.cpp