ForwardStep.hh
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162 ExpectData<ChangedWorldPoses, Contacts, JointPositions> >;
Definition: ForwardStep.hh:109
Definition: ForwardStep.hh:61
ChangedWorldPoses has the same definition as WorldPoses. This type provides a way to keep track of wh...
Definition: ForwardStep.hh:55
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std::string annotation
Definition: ForwardStep.hh:146
This class defines the concept of a Feature. It should be inherited by classes that define some plugi...
Definition: Feature.hh:35
Definition: ForwardStep.hh:135
std::vector< double > forces
Definition: ForwardStep.hh:112
void Step(Output &_h, State &_x, const Input &_u)
Definition: ForwardStep.hh:169
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std::vector< GeneralizedParameters > commands
Definition: ForwardStep.hh:143
ForwardStep is a feature that allows a simulation of a world to take one step forward in time...
Definition: ForwardStep.hh:152
std::string annotation
Definition: ForwardStep.hh:132
STL class.
std::vector< PIDValues > gains
Definition: ForwardStep.hh:144
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std::vector< GeneralizedParameters > commands
Definition: ForwardStep.hh:137
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std::vector< std::size_t > dofs
Definition: ForwardStep.hh:111
Definition: ForwardStep.hh:177
Placeholder class in case a Feature does not define its own World API.
Definition: Feature.hh:49
std::string annotation
Definition: ForwardStep.hh:113
The CompositeData class allows arbitrary data structures to be composed together, copied...
Definition: CompositeData.hh:43
ExpectData< ApplyExternalForceTorques, ApplyGeneralizedForces, VelocityControlCommands, ServoControlCommands > Input
Definition: ForwardStep.hh:158
STL class.
std::vector< WorldPose > entries
Definition: ForwardStep.hh:57
std::vector< ForceTorque > entries
Definition: ForwardStep.hh:125
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std::string annotation
Definition: ForwardStep.hh:126
std::size_t inCoordinatesOf
Definition: ForwardStep.hh:73
std::vector< GeneralizedParameters > forces
Definition: ForwardStep.hh:131
std::string annotation
Definition: ForwardStep.hh:138
The SpecifyData class allows you to form combinations of data specifications. In other words...
Definition: SpecifyData.hh:265
std::vector< double > positions
Definition: ForwardStep.hh:79