gz/physics/ForwardStep.hh
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153 ExpectData<Contacts, JointPositions> >;
Definition: gz/physics/ForwardStep.hh:84
std::vector< GeneralizedParameters > commands
Definition: gz/physics/ForwardStep.hh:134
std::vector< std::size_t > dofs
Definition: gz/physics/ForwardStep.hh:102
STL class.
std::size_t inCoordinatesOf
Definition: gz/physics/ForwardStep.hh:64
STL class.
std::vector< Point > entries
Definition: gz/physics/ForwardStep.hh:76
Definition: gz/physics/ForwardStep.hh:120
The SpecifyData class allows you to form combinations of data specifications. In other words,...
Definition: gz/physics/SpecifyData.hh:265
std::string annotation
Definition: gz/physics/ForwardStep.hh:49
ignition::math::Vector3d vec
Definition: gz/physics/ForwardStep.hh:62
std::vector< double > positions
Definition: gz/physics/ForwardStep.hh:70
std::vector< GeneralizedParameters > forces
Definition: gz/physics/ForwardStep.hh:122
std::size_t inCoordinatesOf
Definition: gz/physics/ForwardStep.hh:57
Definition: gz/physics/ForwardStep.hh:39
void Step(Output &_h, State &_x, const Input &_u)
Definition: gz/physics/ForwardStep.hh:160
std::string annotation
Definition: gz/physics/ForwardStep.hh:104
ignition::math::Vector3d point
Definition: gz/physics/ForwardStep.hh:54
Definition: gz/physics/ForwardStep.hh:89
std::string annotation
Definition: gz/physics/ForwardStep.hh:71
Definition: gz/physics/ForwardStep.hh:74
Definition: gz/physics/ForwardStep.hh:60
Definition: gz/physics/ForwardStep.hh:100
ignition::math::Pose3d pose
Definition: gz/physics/ForwardStep.hh:41
ForwardStep is a feature that allows a simulation of a world to take one step forward in time.
Definition: gz/physics/ForwardStep.hh:143
std::vector< GeneralizedParameters > commands
Definition: gz/physics/ForwardStep.hh:128
std::string annotation
Definition: gz/physics/ForwardStep.hh:97
This class defines the concept of a Feature. It should be inherited by classes that define some plugi...
Definition: gz/physics/Feature.hh:35
Definition: gz/physics/ForwardStep.hh:158
Identity identity
This field contains information to identify the entity.
Definition: gz/physics/Entity.hh:292
std::vector< ForceTorque > entries
Definition: gz/physics/ForwardStep.hh:116
ExpectData< ApplyExternalForceTorques, ApplyGeneralizedForces, VelocityControlCommands, ServoControlCommands > Input
Definition: gz/physics/ForwardStep.hh:149
std::string annotation
Definition: gz/physics/ForwardStep.hh:117
The CompositeData class allows arbitrary data structures to be composed together, copied,...
Definition: gz/physics/CompositeData.hh:43
Definition: gz/physics/ForwardStep.hh:168
std::vector< std::size_t > dofs
Definition: gz/physics/ForwardStep.hh:69
Definition: gz/physics/ForwardStep.hh:126
Definition: gz/physics/ForwardStep.hh:114
Placeholder class in case a Feature does not define its own World API.
Definition: gz/physics/Feature.hh:49
std::string annotation
Definition: gz/physics/ForwardStep.hh:137
Definition: gz/physics/ForwardStep.hh:107
std::vector< WorldPose > entries
Definition: gz/physics/ForwardStep.hh:48
std::string annotation
Definition: gz/physics/ForwardStep.hh:77
Definition: gz/physics/ForwardStep.hh:46
std::string annotation
Definition: gz/physics/ForwardStep.hh:123
std::string annotation
Definition: gz/physics/ForwardStep.hh:129
Definition: gz/physics/ForwardStep.hh:132
Definition: gz/physics/ForwardStep.hh:67
std::vector< double > forces
Definition: gz/physics/ForwardStep.hh:103
Definition: gz/physics/ForwardStep.hh:52
std::vector< PIDValues > gains
Definition: gz/physics/ForwardStep.hh:135