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| hpp::rbprm::HPP_PREDEF_CLASS (RbPrmFullBody) |
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std::pair< MatrixXX, VectorX > | hpp::rbprm::reachability::stackConstraints (const std::pair< MatrixXX, VectorX > &Ab, const std::pair< MatrixXX, VectorX > &Cd) |
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bool | hpp::rbprm::reachability::intersectionExist (const std::pair< MatrixXX, VectorX > &Ab, const fcl::Vec3f &c, fcl::Vec3f &c_out) |
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std::pair< MatrixXX, VectorX > | hpp::rbprm::reachability::computeStabilityConstraints (const centroidal_dynamics::Equilibrium &contactPhase, const fcl::Vec3f &int_point=fcl::Vec3f(0, 0, 0), const fcl::Vec3f &acc=fcl::Vec3f(0, 0, 0)) |
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std::pair< MatrixXX, VectorX > | hpp::rbprm::reachability::computeStabilityConstraintsForState (const RbPrmFullBodyPtr_t &fullbody, State &state, bool &success, const fcl::Vec3f &acc) |
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std::pair< MatrixXX, VectorX > | hpp::rbprm::reachability::computeConstraintsForState (const RbPrmFullBodyPtr_t &fullbody, State &state, bool &success) |
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Result | hpp::rbprm::reachability::isReachable (const RbPrmFullBodyPtr_t &fullbody, State &previous, State &next, const fcl::Vec3f &acc=fcl::Vec3f::Zero(), bool useIntermediateState=false) |
| isReachable Compute the feasibility of the contact transition between the two state, with the quasiStatic formulation of 2-PAC (https://hal.archives-ouvertes.fr/hal-01609055) More...
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Result | hpp::rbprm::reachability::isReachableDynamic (const RbPrmFullBodyPtr_t &fullbody, State &previous, State &next, bool tryQuasiStatic=true, std::vector< double > timings=std::vector< double >(), int numPointsPerPhases=0) |
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