#include <hpp/wholebody-step/fwd.hh>
#include <hpp/wholebody-step/config.hh>
#include <hpp/wholebody-step/deprecated.hh>
Namespaces | |
hpp | |
Copyright (c) 2014 CNRS Authors: Florent Lamiraux. | |
hpp::wholebodyStep | |
Functions | |
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::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::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::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... | |
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... | |
Variables | |
const std::string | hpp::wholebodyStep::STABILITY_CONTEXT = "stability" |