6 #ifndef BEZIER_COM_TRAJ_C0DC0C1_H 7 #define BEZIER_COM_TRAJ_C0DC0C1_H 30 wp.first = -3.0 * t3 + 3.0 * t2;
31 wp.second = -1.0 * pi[0] * t3 + 3.0 * pi[0] * t2 - 3.0 * pi[0] * t +
32 1.0 * pi[0] + 3.0 * pi[1] * t3 - 6.0 * pi[1] * t2 +
33 3.0 * pi[1] * t + 1.0 * pi[3] * t3;
40 double alpha = 1. / (T * T);
42 wp.first = (-18.0 * t + 6.0) * alpha;
43 wp.second = (-6.0 * pi[0] * t + 6.0 * pi[0] + 18.0 * pi[1] * t -
44 12.0 * pi[1] + 6.0 * pi[3] * t) *
55 std::vector<point_t> pi;
56 pi.push_back(pData.
c0_);
57 pi.push_back((pData.
dc0_ * T / n) + pData.
c0_);
58 pi.push_back(point_t::Zero());
59 pi.push_back(pData.
c1_);
66 bezier_wp_t::t_point_t wps;
68 const int DIM_VAR = 3;
70 std::vector<Matrix3> Cpi;
71 for (std::size_t i = 0; i < pi.size(); ++i) {
72 Cpi.push_back(
skew(pi[i]));
76 const double T2 = T * T;
77 const double alpha = 1 / (T2);
80 w0.
first.block<3, 3>(0, 0) = 6 * alpha * Matrix3::Identity();
81 w0.
first.block<3, 3>(3, 0) = 6.0 * Cpi[0] * alpha;
82 w0.
second.head<3>() = (6 * pi[0] - 12 * pi[1]) * alpha;
84 1.0 * (1.0 * Cg * T2 * pi[0] - 12.0 * Cpi[0] * pi[1]) * alpha;
87 w1.
first.block<3, 3>(3, 0) = 1.0 * (-6.0 * Cpi[0] + 6.0 * Cpi[1]) * alpha;
88 w1.
second.head<3>() = 1.0 * (4.0 * pi[0] - 6.0 * pi[1] + 2.0 * pi[3]) * alpha;
90 1.0 * (1.0 * Cg * T2 * pi[1] + 2.0 * Cpi[0] * pi[3]) * alpha;
93 w2.
first.block<3, 3>(0, 0) = -6.0 * alpha * Matrix3::Identity();
94 w2.
first.block<3, 3>(3, 0) = 1.0 * (1.0 * Cg * T2 - 6.0 * Cpi[1]) * alpha;
95 w2.
second.head<3>() = 1.0 * (2.0 * pi[0] + 4.0 * pi[3]) * alpha;
97 1.0 * (-2.0 * Cpi[0] * pi[3] + 6.0 * Cpi[1] * pi[3]) * alpha;
100 w3.
first.block<3, 3>(0, 0) = -12 * alpha * Matrix3::Identity();
101 w3.
first.block<3, 3>(3, 0) = -12.0 * Cpi[3] * alpha;
102 w3.
second.head<3>() = (6 * pi[1] + 6 * pi[3]) * alpha;
104 1.0 * (1.0 * Cg * T2 * pi[3] - 6.0 * Cpi[1] * pi[3]) * alpha;
113 v.second = 3. * pData.
c1_ / T;
bezier_wp_t::t_point_t computeWwaypoints(const ProblemData &pData, double T)
Definition: waypoints_c0_dc0_c1.hh:64
waypoint6_t w2(point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &, const Matrix3 &, const Matrix3 &gX, const double alpha)
Definition: solve_0_step.cpp:34
coefs_t evaluateCurveAtTime(const std::vector< point_t > &pi, double t)
evaluateCurveAtTime compute the expression of the point on the curve at t, defined by the waypoint pi...
Definition: waypoints_c0_dc0_c1.hh:25
centroidal_dynamics::Vector3 Vector3
Definition: definitions.hh:22
waypoint6_t w1(point_t_tC p0, point_t_tC p1, point_t_tC, const Matrix3 &, const Matrix3 &, const Matrix3 &gX, const double alpha)
Definition: solve_0_step.cpp:23
VectorX second
Definition: utils.hh:27
waypoint6_t w3(point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &, const Matrix3 &, const Matrix3 &, const double alpha)
Definition: solve_0_step.cpp:45
INIT_VEL
Definition: flags.hh:21
std::vector< point_t > computeConstantWaypoints(const ProblemData &pData, double T)
Definition: waypoints_c0_dc0_c1.hh:49
point_t c0_
Definition: data.hh:107
MatrixXX first
Definition: utils.hh:26
END_POS
Definition: flags.hh:23
std::pair< double, point3_t > coefs_t
Definition: definitions.hh:62
point_t dc0_
Definition: data.hh:107
waypoint6_t w0(point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &p0X, const Matrix3 &, const Matrix3 &, const double alpha)
Definition: solve_0_step.cpp:12
coefs_t computeFinalVelocityPoint(const ProblemData &pData, double T)
Definition: waypoints_c0_dc0_c1.hh:109
Eigen::Matrix< value_type, 3, 3 > Matrix3
Definition: definitions.hh:17
coefs_t evaluateAccelerationCurveAtTime(const std::vector< point_t > &pi, double T, double t)
Definition: waypoints_c0_dc0_c1.hh:37
Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost fun...
Definition: data.hh:92
Definition: common_solve_methods.hh:15
INIT_POS
Definition: flags.hh:20
BEZIER_COM_TRAJ_DLLAPI Matrix3 skew(point_t_tC x)
skew symmetric matrix
Definition: utils.cpp:62
std::vector< ContactData > contacts_
Definition: data.hh:106
point_t c1_
Definition: data.hh:107
const int DIM_POINT
Definition: solve_end_effector.hh:15