hpp-wholebody-step  4.9.0
Path planning for humanoid robot by sliding on the groud.
static-stability-constraint.hh
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19 
20 #ifndef HPP_WHOLEBODY_STEP_STATIC_STABILITY_CONSTRAINT_HH
21 # define HPP_WHOLEBODY_STEP_STATIC_STABILITY_CONSTRAINT_HH
22 
23 # include <hpp/wholebody-step/fwd.hh>
26 
27 namespace hpp {
28  namespace wholebodyStep {
29  extern const std::string STABILITY_CONTEXT;
53  std::vector <ImplicitPtr_t> createSlidingStabilityConstraint
54  (const DevicePtr_t& robot, const CenterOfMassComputationPtr_t& comc,
55  const JointPtr_t& leftAnkle, const JointPtr_t& rightAnkle,
57 
63  std::vector <ImplicitPtr_t> createSlidingStabilityConstraint
64  (const DevicePtr_t& robot, const JointPtr_t& leftAnkle,
65  const JointPtr_t& rightAnkle, ConfigurationIn_t configuration)
67 
84  std::vector <ImplicitPtr_t>
86  (const DevicePtr_t& robot, const JointPtr_t& leftAnkle,
87  ConfigurationIn_t configuration);
88 
108  std::vector <ImplicitPtr_t> createAlignedCOMStabilityConstraint
109  (const DevicePtr_t& robot, const CenterOfMassComputationPtr_t& comc,
110  const JointPtr_t& leftAnkle, const JointPtr_t& rightAnkle,
111  ConfigurationIn_t configuration, bool sliding = true);
112 
141  std::vector <ImplicitPtr_t> createStaticStabilityConstraint
142  (const DevicePtr_t& robot, const CenterOfMassComputationPtr_t& comc,
143  const JointPtr_t& leftAnkle, const JointPtr_t& rightAnkle,
144  ConfigurationIn_t configuration, bool sliding);
145 
146  } // namespace wholebodyStep
147 } // namespace hpp
148 #endif // HPP_WHOLEBODY_STEP_STATIC_STABILITY_CONSTRAINT_HH
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: static-stability-constraint.hh:31
std::vector< ImplicitPtr_t > createAlignedCOMStabilityConstraint(const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration, bool sliding=true)
#define HPP_WHOLEBODY_STEP_DEPRECATED
Definition: deprecated.hh:32
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:58
Definition: fwd.hh:28
std::vector< ImplicitPtr_t > createStaticStabilityConstraint(const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration, bool sliding)
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:30
constraints::Implicit Implicit
Definition: static-stability-constraint.hh:30
std::vector< ImplicitPtr_t > createSlidingStabilityConstraint(const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration) HPP_WHOLEBODY_STEP_DEPRECATED
const std::string STABILITY_CONTEXT
std::vector< ImplicitPtr_t > createSlidingStabilityConstraintComplement(const DevicePtr_t &robot, const JointPtr_t &leftAnkle, ConfigurationIn_t configuration)
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:61
core::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:69