static-stability-constraint.hh File Reference
#include <hpp/model/fwd.hh>
#include <hpp/model/humanoid-robot.hh>
#include <hpp/wholebody-step/fwd.hh>
#include <hpp/wholebody-step/config.hh>
#include <hpp/wholebody-step/deprecated.hh>
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Namespaces

namespace  hpp
 

Copyright (c) 2014 CNRS Authors: Florent Lamiraux.


namespace  hpp::wholebodyStep

Functions

std::vector
< NumericalConstraintPtr_t
hpp::wholebodyStep::createSlidingStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration)
 Create quasi-static stability constraints.
std::vector
< NumericalConstraintPtr_t
hpp::wholebodyStep::createSlidingStabilityConstraint (const DevicePtr_t &robot, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration)
 Create quasi-static stability constraints The center of mass takes into account all the joints of the robot.
std::vector
< NumericalConstraintPtr_t
hpp::wholebodyStep::createAlignedCOMStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration)
 Constraints that ensure that the COM is between the two ankles.