Drake
QPControllerState Struct Reference

#include <drake/attic/systems/controllers/QPCommon.h>

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

◆ active

std::set<int> active

◆ cbasis

int* cbasis

◆ cbasis_len

int cbasis_len

◆ center_of_mass_observer_state

Eigen::Vector4d center_of_mass_observer_state

◆ foot_contact_prev

bool foot_contact_prev[2]

◆ last_com_ddot

Eigen::Vector3d last_com_ddot

◆ num_active_contact_pts

int num_active_contact_pts

◆ q_integrator_state

Eigen::VectorXd q_integrator_state

◆ t_prev

double t_prev

◆ vbasis

int* vbasis

◆ vbasis_len

int vbasis_len

◆ vref_integrator_state

Eigen::VectorXd vref_integrator_state

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