BodyState.h
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1 #ifndef __BODY_STATE_H__
2 #define __BODY_STATE_H__
3 
4 #include <hrpModel/Body.h>
5 
6 class BodyState
7 {
8 public:
9  void set(hrp::BodyPtr i_body);
13  std::vector<hrp::Vector3> acc;
14  std::vector<hrp::Vector3> rate;
15  std::vector<hrp::dvector6, Eigen::aligned_allocator<hrp::dvector6> > force;
16  std::vector<std::vector<double> > range;
17 };
18 
19 #endif
hrp::dvector q
Definition: BodyState.h:10
std::vector< hrp::Vector3 > acc
Definition: BodyState.h:13
Eigen::VectorXd dvector
Eigen::Vector3d Vector3
Eigen::Matrix3d Matrix33
std::vector< std::vector< double > > range
Definition: BodyState.h:16
std::vector< hrp::Vector3 > rate
Definition: BodyState.h:14
hrp::Matrix33 R
Definition: BodyState.h:12
hrp::Vector3 p
Definition: BodyState.h:11
std::vector< hrp::dvector6, Eigen::aligned_allocator< hrp::dvector6 > > force
Definition: BodyState.h:15


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:20