static-stability-constraint.cc File Reference
#include <boost/assign/list_of.hpp>
#include <hpp/model/humanoid-robot.hh>
#include <hpp/model/joint.hh>
#include <hpp/model/device.hh>
#include <hpp/model/center-of-mass-computation.hh>
#include <hpp/core/config-projector.hh>
#include <hpp/core/numerical-constraint.hh>
#include <hpp/constraints/orientation.hh>
#include <hpp/constraints/position.hh>
#include <hpp/constraints/relative-com.hh>
#include <hpp/constraints/relative-orientation.hh>
#include <hpp/constraints/relative-position.hh>
#include <hpp/constraints/com-between-feet.hh>
#include <hpp/wholebody-step/static-stability-constraint.hh>
Include dependency graph for static-stability-constraint.cc:

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 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::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::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.