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 |
using | Output |
using | State = CompositeData |
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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. | |
Additional Inherited Members | |
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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. | |
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 |
Initial value:
ExpectData<
ApplyExternalForceTorques,
ApplyGeneralizedForces,
VelocityControlCommands,
ServoControlCommands,
std::chrono::steady_clock::duration>
◆ Output
using Output |
Initial value:
SpecifyData<
RequireData<WorldPoses>,
ExpectData<ChangedWorldPoses, Contacts, JointPositions> >
◆ State
using State = CompositeData |
The documentation for this class was generated from the following file: