base_module_state.cpp
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16 
17 /*
18  * base_module_state.cpp
19  *
20  * Created on: Jan 11, 2016
21  * Author: SCH
22  */
23 
25 
26 using namespace thormang3;
27 
29 {
30  is_moving_ = false;
31 
32  cnt_ = 0;
33 
34  mov_time_ = 1.0;
35  smp_time_ = 0.008;
36  all_time_steps_ = int(mov_time_ / smp_time_) + 1;
37 
38  calc_joint_tra_ = Eigen::MatrixXd::Zero(all_time_steps_, MAX_JOINT_ID + 1);
39 
40  joint_ini_pose_ = Eigen::MatrixXd::Zero( MAX_JOINT_ID + 1, 1);
41  joint_pose_ = Eigen::MatrixXd::Zero( MAX_JOINT_ID + 1, 1);
42 
43  via_num_ = 1;
44 
45  joint_via_pose_ = Eigen::MatrixXd::Zero(via_num_, MAX_JOINT_ID + 1);
46  joint_via_dpose_ = Eigen::MatrixXd::Zero(via_num_, MAX_JOINT_ID + 1);
47  joint_via_ddpose_ = Eigen::MatrixXd::Zero(via_num_, MAX_JOINT_ID + 1);
48 
49  via_time_ = Eigen::MatrixXd::Zero(via_num_, 1);
50 }
51 
53 {
54 }
55 
Eigen::MatrixXd joint_via_dpose_
#define MAX_JOINT_ID
Eigen::MatrixXd joint_via_ddpose_


thormang3_base_module
Author(s): SCH
autogenerated on Mon Jun 10 2019 15:37:51