hpp-bezier-com-traj  4.13.0
Multi contact trajectory generation for the COM using Bezier curves
Class Hierarchy

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This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 12]
 Cbezier_com_traj::ConstraintsUsed to define the constraints on the trajectory generation problem. Flags are used to constrain initial and terminal com positions an derivatives. Additionally, the maximum acceleration can be bounded
 Cbezier_com_traj::ContactDataContact data contains all the contact information relative to a contact phase: contact points and normals (within Equilibrium object), as well as any additional kinematic and angular constraints
 Cbezier_com_traj::ProblemDataDefines all the inputs of the problem: Initial and terminal constraints, as well as selected cost functions. Also,a list of ContactData defines the different phases of the problem. While the method can handle any phase greater than one, using more than three phases is probably too constraining
 CResultData
 Cbezier_com_traj::ResultDataCOMTrajSpecialized ResultData that computes the Bezier curves corresponding to the computed trajectory
 Cbezier_com_traj::waypoint_t