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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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Typedefs | |
| typedef void(* | costCompute) (const ProblemData &, const VectorX &, const double, const T_time &, MatrixXX &, VectorX &) |
| typedef std::map< CostFunction, costCompute > | T_costCompute |
Functions | |
| void | genCostFunction (const ProblemData &pData, const VectorX &Ts, const double T, const T_time &timeArray, MatrixXX &H, VectorX &g) |
| genCostFunction generate a cost function according to the constraints of the problem, and the flag selected in ProblemData. The cost has the form x' H x + 2 g' x. | |
| void | computeCostMidPoint (const ProblemData &pData, const VectorX &, const double, const T_time &, MatrixXX &H, VectorX &g) |
| void | computeCostEndVelocity (const ProblemData &pData, const VectorX &, const double T, const T_time &, MatrixXX &H, VectorX &g) |
| void | computeCostMinAcceleration (const ProblemData &pData, const VectorX &Ts, const double, const T_time &timeArray, MatrixXX &H, VectorX &g) |
This file contains definitions for the different cost functions used in qp minimization
| typedef void(* bezier_com_traj::cost::costCompute) (const ProblemData &, const VectorX &, const double, const T_time &, MatrixXX &, VectorX &) |
| void bezier_com_traj::cost::computeCostEndVelocity | ( | const ProblemData & | pData, |
| const VectorX & | , | ||
| const double | T, | ||
| const T_time & | , | ||
| MatrixXX & | H, | ||
| VectorX & | g | ||
| ) |
| void bezier_com_traj::cost::computeCostMidPoint | ( | const ProblemData & | pData, |
| const VectorX & | , | ||
| const double | , | ||
| const T_time & | , | ||
| MatrixXX & | H, | ||
| VectorX & | g | ||
| ) |
| void bezier_com_traj::cost::computeCostMinAcceleration | ( | const ProblemData & | pData, |
| const VectorX & | Ts, | ||
| const double | , | ||
| const T_time & | timeArray, | ||
| MatrixXX & | H, | ||
| VectorX & | g | ||
| ) |
| void bezier_com_traj::cost::genCostFunction | ( | const ProblemData & | pData, |
| const VectorX & | Ts, | ||
| const double | T, | ||
| const T_time & | timeArray, | ||
| MatrixXX & | H, | ||
| VectorX & | g | ||
| ) |
genCostFunction generate a cost function according to the constraints of the problem, and the flag selected in ProblemData. The cost has the form x' H x + 2 g' x.
| Ts | times per phase |
| pointsPerPhase | TODO replace |
| H | hessian cost matrix to be filled |
| g | vector matrix |