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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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Go to the source code of this file.
Classes | |
| struct | solvers::ResultData |
| Struct used to return the results of the trajectory generation problem. More... | |
Namespaces | |
| namespace | solvers |
Typedefs | |
| typedef Eigen::MatrixXd | solvers::MatrixXd |
| typedef Eigen::VectorXd | solvers::VectorXd |
| typedef Eigen::VectorXi | solvers::VectorXi |
| typedef const Eigen::Ref< const VectorXd > & | solvers::Cref_vectorX |
Enumerations | |
| enum | solvers::optim_status { solvers::OPTIM_OPTIMAL = 0 , solvers::OPTIM_INFEASIBLE = 1 } |
Functions | |
| ResultData BEZIER_COM_TRAJ_DLLAPI | solvers::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) | |