hpp-bezier-com-traj  4.15.1
Multi contact trajectory generation for the COM using Bezier curves
waypoints_c0_dc0_ddc0_dc1_c1.hh File Reference
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Namespaces

 bezier_com_traj
 
 bezier_com_traj::c0_dc0_ddc0_dc1_c1
 

Functions

coefs_t bezier_com_traj::c0_dc0_ddc0_dc1_c1::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 and one free waypoint (x) More...
 
coefs_t bezier_com_traj::c0_dc0_ddc0_dc1_c1::evaluateAccelerationCurveAtTime (const std::vector< point_t > &pi, double T, double t)
 
std::vector< point_t > bezier_com_traj::c0_dc0_ddc0_dc1_c1::computeConstantWaypoints (const ProblemData &pData, double T)
 
bezier_wp_t::t_point_t bezier_com_traj::c0_dc0_ddc0_dc1_c1::computeWwaypoints (const ProblemData &pData, double T)
 
coefs_t bezier_com_traj::c0_dc0_ddc0_dc1_c1::computeFinalVelocityPoint (const ProblemData &pData, double T)