A container for a state in tilde form (after variable substitution): More...
#include <smpc_solver.h>
Inheritance diagram for smpc::state_zmp:
Public Member Functions | |
| state_zmp () | |
 Public Member Functions inherited from smpc::state | |
| state () | |
| Default constructor (everything set to 0). More... | |
| void | set (double x_, double y_) |
| Set coordinates, velocities and accelerations are assumed to be zero. More... | |
| void | set (double x_, double vx_, double ax_, double y_, double vy_, double ay_) |
| Set state to given values. More... | |
| double & | x () |
| X/Y coordinate. More... | |
| double & | y () |
| X/Y coordinate. More... | |
| const double & | x () const |
| X/Y coordinate. More... | |
| const double & | y () const |
| X/Y coordinate. More... | |
| double & | vx () |
| Velocity along X/Y axis. More... | |
| double & | vy () |
| Velocity along X/Y axis. More... | |
| const double & | vx () const |
| Velocity along X/Y axis. More... | |
| const double & | vy () const |
| Velocity along X/Y axis. More... | |
| double & | ax () |
| Acceleration along X/Y axis. More... | |
| double & | ay () |
| Acceleration along X/Y axis. More... | |
| const double & | ax () const |
| Acceleration along X/Y axis. More... | |
| const double & | ay () const |
| Acceleration along X/Y axis. More... | |
Additional Inherited Members | |
| Public Attributes inherited from smpc::state | |
| double | state_vector [SMPC_NUM_STATE_VAR] |
Detailed Description
A container for a state in tilde form (after variable substitution):
x ZMP position [meter] x CoM velocity [meter/s] x CoM acceleration [meter/s^2] y ZMP position [meter] y CoM velocity [meter/s] y CoM acceleration [meter/s^2]
Definition at line 159 of file smpc_solver.h.
Constructor & Destructor Documentation
◆ state_zmp()
|
inline |
Definition at line 162 of file smpc_solver.h.
The documentation for this class was generated from the following file:
- include/smpc_solver.h
