void SetThetaOnGround(double ff);
void SetPhiOnGround(double ff);
- inline void SetStateTarget(float target) { state_target=target; }
- inline float GetStateTarget(void) { return state_target; }
+ inline void SetStateTarget(double target) { state_target=target; }
+ inline double GetStateTarget(void) { return state_target; }
bool initTheta(void);
State state;
Control control;
- float state_target;
+ double state_target;
- float state_value;
- float control_value;
+ double state_value;
+ double control_value;
double control_min;
double control_max;