FBModelState< T > Struct Template Reference

#include <FloatingBaseModel.h>

Inheritance diagram for FBModelState< T >:

Collaboration diagram for FBModelState< T >:

Public Member Functions
void	print () const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Quat< T >	bodyOrientation
Vec3< T >	bodyPosition
SVec< T >	bodyVelocity
DVec< T >	q
DVec< T >	qd

Detailed Description

template<typename T>
struct FBModelState< T >

The state of a floating base model (base and joints)

Definition at line 38 of file FloatingBaseModel.h.

Member Function Documentation

template<typename T>

void FBModelState< T >::print ( ) const

inline

Definition at line 46 of file FloatingBaseModel.h.

                     {
    printf("position: %.3f %.3f %.3f\n", bodyPosition[0], bodyPosition[1],
           bodyPosition[2]);
  }

Member Data Documentation

template<typename T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Quat<T> FBModelState< T >::bodyOrientation

Definition at line 40 of file FloatingBaseModel.h.

template<typename T>

Vec3<T> FBModelState< T >::bodyPosition

Definition at line 41 of file FloatingBaseModel.h.

template<typename T>

SVec<T> FBModelState< T >::bodyVelocity

Definition at line 42 of file FloatingBaseModel.h.

template<typename T>

DVec<T> FBModelState< T >::q

Definition at line 43 of file FloatingBaseModel.h.

template<typename T>

DVec<T> FBModelState< T >::qd

Definition at line 44 of file FloatingBaseModel.h.

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

• FloatingBaseModel.h