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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. More...
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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. More...
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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. More...
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