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

Namespaces

 hpp
 Copyright (c) 2014 CNRS Authors: Florent Lamiraux.
 
 hpp::wholebodyStep
 

Typedefs

typedef std::vector< bool > hpp::wholebodyStep::BoolVector_t
 

Functions

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