ToyArmDynamics Struct Reference

Public Member Functions
void	operator() (copp::Span< const double > q, copp::Span< const double > dq, copp::Span< const double > ddq, copp::Span< double > tau) const

Public Attributes
std::vector< double >	inertia {1.2, 0.8}
std::vector< double >	damping {0.08, 0.05}
std::vector< double >	gravity {0.4, 0.25}

Detailed Description

Definition at line 13 of file robot_inverse_dynamics.cpp.

Member Function Documentation

operator()()

void ToyArmDynamics::operator() ( copp::Span< const double > q, copp::Span< const double > dq, copp::Span< const double > ddq, copp::Span< double > tau ) const

inline

Definition at line 19 of file robot_inverse_dynamics.cpp.

Member Data Documentation

inertia

std::vector<double> ToyArmDynamics::inertia {1.2, 0.8}

Definition at line 15 of file robot_inverse_dynamics.cpp.

damping

std::vector<double> ToyArmDynamics::damping {0.08, 0.05}

Definition at line 16 of file robot_inverse_dynamics.cpp.

gravity

std::vector<double> ToyArmDynamics::gravity {0.4, 0.25}

Definition at line 17 of file robot_inverse_dynamics.cpp.

---

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

• bindings/cpp/examples/robot_inverse_dynamics.cpp