CompassGaitContinuousStateIndices Struct Reference

Detailed Description

Describes the row indices of a CompassGaitContinuousState.

#include <drake/examples/compass_gait/compass_gait_continuous_state.h>

Static Public Member Functions
static const std::vector< std::string > &	GetCoordinateNames ()
	Returns a vector containing the names of each coordinate within this class. More...

Static Public Attributes
static const int	kNumCoordinates = 4
	The total number of rows (coordinates). More...
static const int	kStance = 0
static const int	kSwing = 1
static const int	kStancedot = 2
static const int	kSwingdot = 3

Member Function Documentation

GetCoordinateNames()

static const std::vector<std::string>& GetCoordinateNames ( )

static

Returns a vector containing the names of each coordinate within this class.

The indices within the returned vector matches that of this class. In other words, CompassGaitContinuousStateIndices::GetCoordinateNames()[i] is the name for BasicVector::GetAtIndex(i).

Member Data Documentation

kNumCoordinates

const int kNumCoordinates = 4

static

The total number of rows (coordinates).

kStance

const int kStance = 0

static

kStancedot

const int kStancedot = 2

static

kSwing

const int kSwing = 1

static

kSwingdot

const int kSwingdot = 3

static

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

• drake/examples/compass_gait/compass_gait_continuous_state.h