hpp-wholebody-step  4.10.1
Path planning for humanoid robot by sliding on the groud.
static-stability-constraint.hh File Reference
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Namespaces

 hpp
 
 hpp::wholebodyStep
 

Typedefs

typedef constraints::Implicit hpp::wholebodyStep::Implicit
 
typedef constraints::ImplicitPtr_t hpp::wholebodyStep::ImplicitPtr_t
 

Functions

std::vector< ImplicitPtr_t > hpp::wholebodyStep::createSlidingStabilityConstraintComplement (const DevicePtr_t &robot, const JointPtr_t &leftAnkle, ConfigurationIn_t configuration)
 
std::vector< ImplicitPtr_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)
 
std::vector< ImplicitPtr_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)
 

Variables

const std::string hpp::wholebodyStep::STABILITY_CONTEXT