ForwardStep Class Reference

ForwardStep is a feature that allows a simulation of a world to take one step forward in time. More...

#include <ForwardStep.hh>

Classes
class	Implementation
class	World

Public Types
using	Input = ExpectData< ApplyExternalForceTorques, ApplyGeneralizedForces, VelocityControlCommands, ServoControlCommands, std::chrono::steady_clock::duration >
using	Output = SpecifyData< RequireData< WorldPoses >, ExpectData< ChangedWorldPoses, Contacts, JointPositions > >
using	State = CompositeData
Public Types inherited from Feature
using	RequiredFeatures = void
	By default, a blank feature will not require any other features. If your feature does require some other set of features, then you should inherit the FeatureWithRequirements class, and provide it with a list of the Features that you require. More...

Additional Inherited Members
Static Public Member Functions inherited from Feature
template<typename SomeFeatureList , bool = false>
static constexpr bool	ConflictsWith ()
	By default, a blank feature will not conflict with any other features. If your feature does conflict with some other set of features, then you should inherit the FeatureWithConflicts<...> class, and provide it a list of those conflicting features. More...

Detailed Description

ForwardStep is a feature that allows a simulation of a world to take one step forward in time.

Member Typedef Documentation

Input

using Input = ExpectData< ApplyExternalForceTorques, ApplyGeneralizedForces, VelocityControlCommands, ServoControlCommands, std::chrono::steady_clock::duration>

Output

using Output = SpecifyData< RequireData<WorldPoses>, ExpectData<ChangedWorldPoses, Contacts, JointPositions> >

State

using State = CompositeData

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The documentation for this class was generated from the following file:

• ForwardStep.hh