#include <hpp/wholebody-step/static-stability-constraint.hh>
#include <boost/assign/list_of.hpp>
#include <hpp/pinocchio/humanoid-robot.hh>
#include <hpp/pinocchio/joint.hh>
#include <hpp/pinocchio/device.hh>
#include <hpp/pinocchio/center-of-mass-computation.hh>
#include <hpp/core/config-projector.hh>
#include <hpp/core/numerical-constraint.hh>
#include <hpp/constraints/generic-transformation.hh>
#include <hpp/constraints/relative-com.hh>
#include <hpp/constraints/com-between-feet.hh>
Namespaces | |
hpp | |
Copyright (c) 2014 CNRS Authors: Florent Lamiraux. | |
hpp::wholebodyStep | |
Typedefs | |
typedef std::vector< bool > | hpp::wholebodyStep::BoolVector_t |
Functions | |
std::vector < NumericalConstraintPtr_t > | hpp::wholebodyStep::createSlidingStabilityConstraint (const DevicePtr_t &robot, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration) HPP_WHOLEBODY_STEP_DEPRECATED |
Create quasi-static stability constraints The center of mass takes into account all the joints of the robot. More... | |
std::vector < NumericalConstraintPtr_t > | hpp::wholebodyStep::createSlidingStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration) HPP_WHOLEBODY_STEP_DEPRECATED |
Create quasi-static stability constraints. More... | |
std::vector < NumericalConstraintPtr_t > | hpp::wholebodyStep::createSlidingStabilityConstraintComplement (const DevicePtr_t &robot, const JointPtr_t &leftAnkle, ConfigurationIn_t configuration) |
Create quasi-static stability complementary constraints. More... | |
std::vector < NumericalConstraintPtr_t > | hpp::wholebodyStep::createStaticStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration, bool sliding) |
Create quasi-static stability constraints. More... | |
std::vector < NumericalConstraintPtr_t > | hpp::wholebodyStep::createAlignedCOMStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration, bool sliding=true) |
Constraints that ensure that the COM is between the two ankles. More... | |