6#ifndef BEZIER_COM_TRAJ_LIB_SOLVE_H
7#define BEZIER_COM_TRAJ_LIB_SOLVE_H
29 const double timeStep = -1);
44 const unsigned int pointsPerPhase = 3);
64 const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
#define BEZIER_COM_TRAJ_DLLAPI
Definition local_config.hh:52
Definition common_solve_methods.hh:15
centroidal_dynamics::VectorX VectorX
Definition definitions.hh:24
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj computeCOMTraj(const ProblemData &pData, const VectorX &Ts, const double timeStep=-1, const solvers::SolverType solver=solvers::SOLVER_QUADPROG)
computeCOMTraj Tries to solve the one step problem : Given two or three contact phases,...
Definition computeCOMTraj.cpp:552
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj computeCOMTrajFixedSize(const ProblemData &pData, const VectorX &Ts, const unsigned int pointsPerPhase=3)
computeCOMTraj Tries to solve the one step problem : Given two or three contact phases,...
Definition computeCOMTraj.cpp:530
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj solve0step(const ProblemData &pData, const std::vector< double > &Ts, const double timeStep=-1)
solve0step Tries to solve the 0-step capturability problem. Given the current contact phase,...
Definition solve_0_step.cpp:231
Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost fun...
Definition data.hh:92
Specialized ResultData that computes the Bezier curves corresponding to the computed trajectory.
Definition data.hh:121