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hpp-bezier-com-traj 6.0.0
Multi contact trajectory generation for the COM using Bezier curves
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Classes | |
| struct | ResultData |
| Struct used to return the results of the trajectory generation problem. More... | |
Typedefs | |
| typedef Eigen::MatrixXd | MatrixXd |
| typedef Eigen::VectorXd | VectorXd |
| typedef Eigen::VectorXi | VectorXi |
| typedef const Eigen::Ref< const VectorXd > & | Cref_vectorX |
| typedef Eigen::SparseMatrix< double > | SpMat |
| typedef Eigen::SparseVector< double > | SpVec |
| typedef Eigen::SparseVector< int > | SpVeci |
Enumerations | |
| enum | optim_status { OPTIM_OPTIMAL = 0 , OPTIM_INFEASIBLE = 1 } |
Functions | |
| int | solveglpk (const VectorXd &g0, const MatrixXd &CE, const VectorXd &ce0, const MatrixXd &CI, const VectorXd &ci0, solvers::Cref_vectorX minBounds, solvers::Cref_vectorX maxBounds, VectorXd &x, double &cost) |
| ResultData BEZIER_COM_TRAJ_DLLAPI | solve (const MatrixXd &A, const VectorXd &b, const MatrixXd &D, const VectorXd &d, const MatrixXd &Hess, const VectorXd &g, const VectorXd &initGuess, Cref_vectorX minBounds, Cref_vectorX maxBounds, const SolverType solver) |
| solve Solve a QP or LP given init position and velocity, 0 velocity constraints (acceleration constraints are ignored) | |
| int | getType (const VectorXd &mib, const VectorXd &mab, const int i) |
| template<typename Derived > | |
| bool | is_nan (const Eigen::MatrixBase< Derived > &x) |
| typedef const Eigen::Ref<const VectorXd>& solvers::Cref_vectorX |
| typedef Eigen::MatrixXd solvers::MatrixXd |
| typedef Eigen::SparseMatrix<double> solvers::SpMat |
| typedef Eigen::SparseVector<double> solvers::SpVec |
| typedef Eigen::SparseVector<int> solvers::SpVeci |
| typedef Eigen::VectorXd solvers::VectorXd |
| typedef Eigen::VectorXi solvers::VectorXi |
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inline |
| ResultData solvers::solve | ( | const MatrixXd & | A, |
| const VectorXd & | b, | ||
| const MatrixXd & | D, | ||
| const VectorXd & | d, | ||
| const MatrixXd & | Hess, | ||
| const VectorXd & | g, | ||
| const VectorXd & | initGuess, | ||
| solvers::Cref_vectorX | minBounds, | ||
| solvers::Cref_vectorX | maxBounds, | ||
| const SolverType | solver | ||
| ) |
solve Solve a QP or LP given init position and velocity, 0 velocity constraints (acceleration constraints are ignored)
| pData | problem Data. Should contain only one contact phase. |
| Ts | timelength of each contact phase. Should only contain one value |
| timeStep | time that the solver has to stop. |
| int solvers::solveglpk | ( | const VectorXd & | g0, |
| const MatrixXd & | CE, | ||
| const VectorXd & | ce0, | ||
| const MatrixXd & | CI, | ||
| const VectorXd & | ci0, | ||
| solvers::Cref_vectorX | minBounds, | ||
| solvers::Cref_vectorX | maxBounds, | ||
| VectorXd & | x, | ||
| double & | cost | ||
| ) |