Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost functions. Also,a list of ContactData defines the different phases of the problem. While the method can handle any phase greater than one, using more than three phases is probably too constraining. More...

#include <hpp/bezier-com-traj/data.hh>

Collaboration diagram for bezier_com_traj::ProblemData:

[legend]

Public Member Functions
	ProblemData ()

Public Attributes
std::vector< ContactData >	contacts_

point_t	c0_

point_t	dc0_

point_t	ddc0_

point_t	j0_

point_t	c1_

point_t	dc1_

point_t	ddc1_

point_t	j1_

point_t	l0_

bool	useAngularMomentum_

Constraints	constraints_

CostFunction	costFunction_

GIWCRepresentation	representation_

Detailed Description

Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost functions. Also,a list of ContactData defines the different phases of the problem. While the method can handle any phase greater than one, using more than three phases is probably too constraining.

Constructor & Destructor Documentation

◆ ProblemData()

bezier_com_traj::ProblemData::ProblemData ( )

inline

Member Data Documentation

◆ c0_

point_t bezier_com_traj::ProblemData::c0_

◆ c1_

point_t bezier_com_traj::ProblemData::c1_

◆ constraints_

Constraints bezier_com_traj::ProblemData::constraints_

◆ contacts_

std::vector<ContactData> bezier_com_traj::ProblemData::contacts_

◆ costFunction_

CostFunction bezier_com_traj::ProblemData::costFunction_

◆ dc0_

point_t bezier_com_traj::ProblemData::dc0_

◆ dc1_

point_t bezier_com_traj::ProblemData::dc1_

◆ ddc0_

point_t bezier_com_traj::ProblemData::ddc0_

◆ ddc1_

point_t bezier_com_traj::ProblemData::ddc1_

◆ j0_

point_t bezier_com_traj::ProblemData::j0_

◆ j1_

point_t bezier_com_traj::ProblemData::j1_

◆ l0_

point_t bezier_com_traj::ProblemData::l0_

◆ representation_

GIWCRepresentation bezier_com_traj::ProblemData::representation_

◆ useAngularMomentum_

bool bezier_com_traj::ProblemData::useAngularMomentum_

The documentation for this struct was generated from the following file:

include/hpp/bezier-com-traj/data.hh

Public Member Functions

Public Attributes