hpp-bezier-com-traj
4.13.0
Multi contact trajectory generation for the COM using Bezier curves
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Typedefs | |
typedef Eigen::SparseMatrix< double > | SpMat |
typedef Eigen::SparseVector< double > | SpVec |
typedef Eigen::SparseVector< int > | SpVeci |
Functions | |
int | getType (const VectorXd &mib, const VectorXd &mab, const int i) |
int | solveglpk (const VectorXd &g0, const MatrixXd &CE, const VectorXd &ce0, const MatrixXd &CI, const VectorXd &ci0, solvers::Cref_vectorX minBounds, solvers::Cref_vectorX maxBounds, VectorXd &x, double &cost) |
template<typename Derived > | |
bool | is_nan (const Eigen::MatrixBase< Derived > &x) |
ResultData | solve (const MatrixXd &A, const VectorXd &b, const MatrixXd &D, const VectorXd &d, const MatrixXd &Hess, const VectorXd &g, const VectorXd &initGuess, solvers::Cref_vectorX minBounds, solvers::Cref_vectorX maxBounds, const SolverType solver) |
typedef Eigen::SparseMatrix<double> solvers::SpMat |
typedef Eigen::SparseVector<double> solvers::SpVec |
typedef Eigen::SparseVector<int> solvers::SpVeci |
int solvers::getType | ( | const VectorXd & | mib, |
const VectorXd & | mab, | ||
const int | i | ||
) |
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inline |
ResultData solvers::solve | ( | const MatrixXd & | A, |
const VectorXd & | b, | ||
const MatrixXd & | D, | ||
const VectorXd & | d, | ||
const MatrixXd & | Hess, | ||
const VectorXd & | g, | ||
const VectorXd & | initGuess, | ||
solvers::Cref_vectorX | minBounds, | ||
solvers::Cref_vectorX | maxBounds, | ||
const SolverType | solver | ||
) |
int solvers::solveglpk | ( | const VectorXd & | g0, |
const MatrixXd & | CE, | ||
const VectorXd & | ce0, | ||
const MatrixXd & | CI, | ||
const VectorXd & | ci0, | ||
solvers::Cref_vectorX | minBounds, | ||
solvers::Cref_vectorX | maxBounds, | ||
VectorXd & | x, | ||
double & | cost | ||
) |