19 #ifndef HPP_RBPRM_STABILITY_HH 20 #define HPP_RBPRM_STABILITY_HH 22 #include <hpp/pinocchio/device.hh> 25 #include <hpp/centroidal-dynamics/centroidal_dynamics.hh> 35 typedef Eigen::Matrix<pinocchio::value_type, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
MatrixXX;
36 typedef Eigen::Matrix<pinocchio::value_type, Eigen::Dynamic, 1>
VectorX;
47 fcl::Vec3f com = fcl::Vec3f(0, 0, 0),
48 const centroidal_dynamics::EquilibriumAlgorithm = centroidal_dynamics::EQUILIBRIUM_ALGORITHM_DLP);
56 const core::value_type friction = 0.5);
61 centroidal_dynamics::Equilibrium& sEq,
62 centroidal_dynamics::EquilibriumAlgorithm& alg,
63 core::value_type friction = 0.6,
const double feetX = 0,
64 const double feetY = 0) throw(std::runtime_error);
69 #endif // HPP_RBPRM_STABILITY_HH Eigen::Matrix< pinocchio::value_type, 3, 1 > Vector3
Definition: rbprm-limb.hh:48
std::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
centroidal_dynamics::Vector3 setupLibrary(const RbPrmFullBodyPtr_t fullbody, State &state, centroidal_dynamics::Equilibrium &sEq, centroidal_dynamics::EquilibriumAlgorithm &alg, core::value_type friction=0.6, const double feetX=0, const double feetY=0)
Definition: algorithm.hh:27
Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, 1 > VectorX
Definition: stability.hh:36
centroidal_dynamics::Equilibrium initLibrary(const RbPrmFullBodyPtr_t fullbody)
Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > MatrixXX
Definition: stability.hh:35
double IsStable(const RbPrmFullBodyPtr_t fullbody, State &state, fcl::Vec3f acc=fcl::Vec3f(0, 0, 0), fcl::Vec3f com=fcl::Vec3f(0, 0, 0), const centroidal_dynamics::EquilibriumAlgorithm=centroidal_dynamics::EQUILIBRIUM_ALGORITHM_DLP)
std::pair< MatrixXX, VectorX > ComputeCentroidalCone(const RbPrmFullBodyPtr_t fullbody, State &state, const core::value_type friction=0.5)
Definition: rbprm-state.hh:40