CompassGaitParamsIndices Struct Reference

Detailed Description

Describes the row indices of a CompassGaitParams.

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

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

Static Public Attributes
static const int	kNumCoordinates = 6
	The total number of rows (coordinates).
static const int	kMassHip = 0
static const int	kMassLeg = 1
static const int	kLengthLeg = 2
static const int	kCenterOfMassLeg = 3
static const int	kGravity = 4
static const int	kSlope = 5

Member Function Documentation

GetCoordinateNames()

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, CompassGaitParamsIndices::GetCoordinateNames()[i] is the name for BasicVector::GetAtIndex(i).

Member Data Documentation

kCenterOfMassLeg

const int kCenterOfMassLeg = 3

static

kGravity

const int kGravity = 4

static

kLengthLeg

const int kLengthLeg = 2

static

kMassHip

const int kMassHip = 0

static

kMassLeg

const int kMassLeg = 1

static

kNumCoordinates

const int kNumCoordinates = 6

static

The total number of rows (coordinates).

kSlope

const int kSlope = 5

static

---

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

• drake/examples/compass_gait/compass_gait_params.h