reset_base_state()

void reset_base_state	(	const Eigen::Vector3d &	position_base_in_world,
		const Eigen::Quaterniond &	orientation_base_in_world,
		const Eigen::Vector3d &	linear_velocity_base_to_world_in_world,
		const Eigen::Vector3d &	angular_velocity_base_in_base
	)

Reset the pose and velocity of the floating base in the world frame.

Parameters

[in]	position_base_in_world	Position of the base in the world frame.
[in]	orientation_base_in_world	Orientation of the base in the world frame.
[in]	linear_velocity_base_to_world_in_world	Linear velocity of the base in the world frame.
[in]	angular_velocity_base_in_base	Body angular velocity of the base (in the base frame).