6 #ifndef BEZIER_COM_TRAJ_LIB_UTILS_H 7 #define BEZIER_COM_TRAJ_LIB_UTILS_H 19 waypoint_t
initwp(
const size_t rows,
const size_t cols);
20 waypoint_t
operator+(
const waypoint_t&
w1,
const waypoint_t&
w2);
21 waypoint_t
operator-(
const waypoint_t&
w1,
const waypoint_t&
w2);
22 waypoint_t
operator*(
const double k,
const waypoint_t& w);
23 waypoint_t
operator*(
const waypoint_t& w,
const double k);
35 size_t size()
const {
return second.size(); }
39 Eigen::NumTraits<value_type>::dummy_precision())
const {
40 return first.isApprox(other.
first, prec) &&
41 second.isApprox(other.
second, prec);
65 template <
typename Bezier,
typename Po
int>
68 const std::vector<Point>& pi,
80 const unsigned int pointsPerPhase);
90 const double timeStep);
98 const std::string& fileName,
bool clipZ =
false);
112 template <
typename Bezier,
typename Po
int>
115 const std::vector<Point>& pi,
117 std::vector<Point> wps;
120 wps.push_back(pi[i]);
123 wps.push_back(pi[i]);
126 wps.push_back(pi[i]);
139 "You cannot constrain final acceleration if final velocity is not " 141 wps.push_back(pi[i]);
146 "You cannot constrain final velocity if final position is not " 148 wps.push_back(pi[i]);
152 wps.push_back(pi[i]);
156 return Bezier(wps.begin(), wps.end(), 0., T);
waypoint_t operator+(const waypoint_t &w1, const waypoint_t &w2)
Definition: utils.cpp:16
waypoint_t operator*(const double k, const waypoint_t &w)
Definition: utils.cpp:30
#define BEZIER_COM_TRAJ_DLLAPI
Definition: local_config.hh:52
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
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
Eigen::Ref< VectorX > Ref_vectorX
Definition: definitions.hh:27
waypoint_t()
Definition: utils.hh:29
INIT_VEL
Definition: flags.hh:21
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:24
bool operator==(const waypoint_t &other) const
Definition: utils.hh:44
T_time computeDiscretizedTime(const VectorX &phaseTimings, const double timeStep)
computeDiscretizedTime build an array of discretized points in time, given the timestep. Doesn't contain t=0, is of size pointsPerPhase*phaseTimings.size()
Definition: utils.cpp:100
std::vector< std::pair< double, int > > T_time
Definition: definitions.hh:59
T_time computeDiscretizedTimeFixed(const VectorX &phaseTimings, const unsigned int pointsPerPhase)
computeDiscretizedTime build an array of discretized points in time, such that there is the same numb...
Definition: utils.cpp:81
double value_type
Definition: definitions.hh:16
END_ACC
Definition: flags.hh:25
bool operator!=(const waypoint_t &other) const
Definition: utils.hh:46
MatrixXX first
Definition: utils.hh:26
static waypoint_t Zero(size_t dim)
Definition: utils.hh:33
END_POS
Definition: flags.hh:23
waypoint_t(MatrixXX A, VectorX b)
Definition: utils.hh:31
waypoint_t operator-(const waypoint_t &w1, const waypoint_t &w2)
Definition: utils.cpp:23
void printQHullFile(const std::pair< MatrixXX, VectorX > &Ab, VectorX intPoint, const std::string &fileName, bool clipZ=false)
write a polytope describe by A x <= b linear constraints in a given filename
Definition: utils.cpp:120
INIT_ACC
Definition: flags.hh:22
int Normalize(Ref_matrixXX A, Ref_vectorX b)
normalize inequality constraints
Definition: common_solve_methods.cpp:78
BEZIER_COM_TRAJ_DLLAPI std::vector< ndcurves::Bern< double > > ComputeBersteinPolynoms(const unsigned int degree)
Compute the Bernstein polynoms for a given degree.
Definition: utils.cpp:73
Eigen::Ref< MatrixXX > Ref_matrixXX
Definition: definitions.hh:29
END_VEL
Definition: flags.hh:24
Eigen::Matrix< value_type, 3, 3 > Matrix3
Definition: definitions.hh:17
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > MatrixXX
Definition: definitions.hh:21
const Eigen::Ref< const point_t > & point_t_tC
Definition: definitions.hh:43
Definition: common_solve_methods.hh:15
size_t size() const
Definition: utils.hh:35
INIT_POS
Definition: flags.hh:20
BEZIER_COM_TRAJ_DLLAPI Matrix3 skew(point_t_tC x)
skew symmetric matrix
Definition: utils.cpp:62
BEZIER_COM_TRAJ_DLLAPI Bezier computeBezierCurve(const ConstraintFlag &flag, const double T, const std::vector< Point > &pi, const Point &x)
given the constraints of the problem, and a set of waypoints, return the bezier curve corresponding ...
bool isApprox(const waypoint_t &other, const value_type prec=Eigen::NumTraits< value_type >::dummy_precision()) const
Definition: utils.hh:37