Drake
QPControllerState Struct Reference

#include <systems/controllers/QPCommon.h>

Collaboration diagram for QPControllerState:
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Public Attributes

double t_prev
 
bool foot_contact_prev [2]
 
Eigen::VectorXd vref_integrator_state
 
Eigen::VectorXd q_integrator_state
 
std::set< intactive
 
int num_active_contact_pts
 
Eigen::Vector4d center_of_mass_observer_state
 
Eigen::Vector3d last_com_ddot
 
intvbasis
 
intcbasis
 
int vbasis_len
 
int cbasis_len
 

Member Data Documentation

std::set<int> active
int* cbasis
int cbasis_len
Eigen::Vector4d center_of_mass_observer_state
bool foot_contact_prev[2]
Eigen::Vector3d last_com_ddot
int num_active_contact_pts
Eigen::VectorXd q_integrator_state
double t_prev
int* vbasis
int vbasis_len
Eigen::VectorXd vref_integrator_state

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