00001 #ifndef __BODY_STATE_H__ 00002 #define __BODY_STATE_H__ 00003 00004 #include <hrpModel/Body.h> 00005 00006 class BodyState 00007 { 00008 public: 00009 void set(hrp::BodyPtr i_body); 00010 hrp::dvector q; 00011 hrp::Vector3 p; 00012 hrp::Matrix33 R; 00013 std::vector<hrp::Vector3> acc; 00014 std::vector<hrp::Vector3> rate; 00015 std::vector<hrp::dvector6, Eigen::aligned_allocator<hrp::dvector6> > force; 00016 std::vector<std::vector<double> > range; 00017 }; 00018 00019 #endif