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20 lines
603 B
20 lines
603 B
2 months ago
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# This message describes the states of a centroidal state.
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#
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# The centroidal state is defined by:
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# * the position, velocity and acceleration of the CoM,
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# * the base orientation and angular velocity, and
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# * the linear and angular momentum and their rates.
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# where each quantity is expressed in the world frame.
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# Center of mass
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geometry_msgs/Vector3 com_position
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geometry_msgs/Vector3 com_velocity
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# Base orientation
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geometry_msgs/Quaternion base_orientation
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geometry_msgs/Vector3 base_angular_velocity
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# Linear and angular momentum
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geometry_msgs/Twist momenta
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geometry_msgs/Twist momenta_rate
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