ForwardStep.hh
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153 ExpectData<Contacts, JointPositions> >;
Definition: ForwardStep.hh:100
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std::string annotation
Definition: ForwardStep.hh:137
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:126
std::vector< double > forces
Definition: ForwardStep.hh:103
void Step(Output &_h, State &_x, const Input &_u)
Definition: ForwardStep.hh:160
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std::vector< GeneralizedParameters > commands
Definition: ForwardStep.hh:134
ForwardStep is a feature that allows a simulation of a world to take one step forward in time...
Definition: ForwardStep.hh:143
std::string annotation
Definition: ForwardStep.hh:123
STL class.
std::vector< PIDValues > gains
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std::vector< GeneralizedParameters > commands
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std::vector< std::size_t > dofs
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Placeholder class in case a Feature does not define its own World API.
Definition: Feature.hh:49
std::string annotation
Definition: ForwardStep.hh:104
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:149
STL class.
std::vector< ForceTorque > entries
Definition: ForwardStep.hh:116
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std::string annotation
Definition: ForwardStep.hh:117
std::size_t inCoordinatesOf
Definition: ForwardStep.hh:64
std::vector< GeneralizedParameters > forces
Definition: ForwardStep.hh:122
std::string annotation
Definition: ForwardStep.hh:129
The SpecifyData class allows you to form combinations of data specifications. In other words...
Definition: SpecifyData.hh:262
std::vector< double > positions
Definition: ForwardStep.hh:70