hpp-bezier-com-traj  4.12.0
Multi contact trajectory generation for the COM using Bezier curves
waypoints_c0_dc0_ddc0_c1.hh File Reference
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Namespaces

 bezier_com_traj
 
 bezier_com_traj::c0_dc0_ddc0_c1
 

Functions

coefs_t bezier_com_traj::c0_dc0_ddc0_c1::evaluateCurveAtTime (const std::vector< point_t > &pi, double t)
 

EQUATION FOR CONSTRAINts on initial position, velocity and acceleration, and only final position (degree = 4)

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coefs_t bezier_com_traj::c0_dc0_ddc0_c1::evaluateAccelerationCurveAtTime (const std::vector< point_t > &pi, double T, double t)
 
std::vector< point_t > bezier_com_traj::c0_dc0_ddc0_c1::computeConstantWaypoints (const ProblemData &pData, double T)
 
bezier_wp_t::t_point_t bezier_com_traj::c0_dc0_ddc0_c1::computeWwaypoints (const ProblemData &pData, double T)
 
coefs_t bezier_com_traj::c0_dc0_ddc0_c1::computeFinalVelocityPoint (const ProblemData &pData, double T)