6 #ifndef BEZIER_COM_TRAJ_LIB_SOLVE_H 7 #define BEZIER_COM_TRAJ_LIB_SOLVE_H 11 #include <Eigen/Dense> 26 const double timeStep = -1);
38 const unsigned int pointsPerPhase = 3);
53 const double timeStep = -1,
54 const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
#define BEZIER_COM_TRAJ_DLLAPI
Definition: local_config.hh:52
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:23
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj computeCOMTrajFixedSize(const ProblemData &pData, const VectorX &Ts, const unsigned int pointsPerPhase=3)
computeCOMTraj Tries to solve the one step problem : Given two or three contact phases, an initial and final com position and velocity, try to compute the CoM trajectory (as a Bezier curve) that connect them
Definition: computeCOMTraj.cpp:444
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj computeCOMTraj(const ProblemData &pData, const VectorX &Ts, const double timeStep=-1, const solvers::SolverType solver=solvers::SOLVER_QUADPROG)
computeCOMTraj Tries to solve the one step problem : Given two or three contact phases, an initial and final com position and velocity, try to compute the CoM trajectory (as a Bezier curve) that connect them
Definition: computeCOMTraj.cpp:461
Definition: common_solve_methods.hh:16
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj solve0step(const ProblemData &pData, const std::vector< double > &Ts, const double timeStep=-1)
solve0step Tries to solve the 0-step capturability problem. Given the current contact phase...
Definition: solve_0_step.cpp:214