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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.
Namespaces | |
| namespace | bezier_com_traj |
| namespace | bezier_com_traj::cost |
Functions | |
| 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. | |