6#ifndef BEZIER_COM_TRAJ_LIB_DATA_H
7#define BEZIER_COM_TRAJ_LIB_DATA_H
9#include <ndcurves/bezier_curve.h>
17#include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
30 Kin_(Eigen::Matrix3d::Zero()),
32 Ang_(Eigen::Matrix3d::Zero()),
37 new centroidal_dynamics::Equilibrium(*(other.
contactPhase_))),
45 Kin_(Eigen::Matrix3d::Zero()),
47 Ang_(Eigen::Matrix3d::Zero()),
INIT_VEL
Definition flags.hh:21
END_VEL
Definition flags.hh:24
ACCELERATION
Definition flags.hh:13
END_POS
Definition flags.hh:23
INIT_POS
Definition flags.hh:20
DOUBLE_DESCRIPTION
Definition flags.hh:37
#define BEZIER_COM_TRAJ_DLLAPI
Definition local_config.hh:52
Definition common_solve_methods.hh:15
centroidal_dynamics::VectorX VectorX
Definition definitions.hh:24
Eigen::Matrix< value_type, Eigen::Dynamic, 3 > MatrixX3
Definition definitions.hh:20
solvers::ResultData ResultData
Definition data.hh:115
Eigen::Vector3d point_t
Definition definitions.hh:42
ndcurves::bezier_curve< double, double, true, point_t > bezier_t
Definition definitions.hh:55
Used to define the constraints on the trajectory generation problem. Flags are used to constrain init...
Definition data.hh:63
Constraints(ConstraintFlag flag)
Definition data.hh:70
double reduce_h_
Definition data.hh:81
bool constraintAcceleration_
Definition data.hh:79
Constraints()
Definition data.hh:64
double maxAcceleration_
Definition data.hh:80
~Constraints()
Definition data.hh:76
ConstraintFlag flag_
Definition data.hh:78
point_t ddc1_
Definition data.hh:107
CostFunction costFunction_
Definition data.hh:111
point_t j1_
Definition data.hh:107
ProblemData()
Definition data.hh:93
point_t dc0_
Definition data.hh:107
std::vector< ContactData > contacts_
Definition data.hh:106
point_t ddc0_
Definition data.hh:107
point_t l0_
Definition data.hh:108
point_t dc1_
Definition data.hh:107
point_t j0_
Definition data.hh:107
point_t c0_
Definition data.hh:107
point_t c1_
Definition data.hh:107
GIWCRepresentation representation_
Definition data.hh:112
bool useAngularMomentum_
Definition data.hh:109
Constraints constraints_
Definition data.hh:110
point_t ddc1_
Definition data.hh:133
ResultDataCOMTraj()
Definition data.hh:122
~ResultDataCOMTraj()
Definition data.hh:128
bezier_t c_of_t_
Definition data.hh:130
point_t dc1_
Definition data.hh:132
bezier_t dL_of_t_
Definition data.hh:131
Struct used to return the results of the trajectory generation problem.
Definition solver-abstract.hpp:52
ResultData()
Definition solver-abstract.hpp:53