hpp-wholebody-step  4.11.0
Path planning for humanoid robot by sliding on the groud.
static-stability-constraint.hh
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19 
20 #ifndef HPP_WHOLEBODY_STEP_STATIC_STABILITY_CONSTRAINT_HH
21 # define HPP_WHOLEBODY_STEP_STATIC_STABILITY_CONSTRAINT_HH
22 
23 # include <hpp/wholebody-step/fwd.hh>
26 
27 namespace hpp {
28  namespace wholebodyStep {
29  extern const std::string STABILITY_CONTEXT;
48  std::vector <ImplicitPtr_t>
50  (const DevicePtr_t& robot, const JointPtr_t& leftAnkle,
51  ConfigurationIn_t configuration);
52 
72  std::vector <ImplicitPtr_t> createAlignedCOMStabilityConstraint
73  (const DevicePtr_t& robot, const CenterOfMassComputationPtr_t& comc,
74  const JointPtr_t& leftAnkle, const JointPtr_t& rightAnkle,
75  ConfigurationIn_t configuration, bool sliding = true);
76 
105  std::vector <ImplicitPtr_t> createStaticStabilityConstraint
106  (const DevicePtr_t& robot, const CenterOfMassComputationPtr_t& comc,
107  const JointPtr_t& leftAnkle, const JointPtr_t& rightAnkle,
108  ConfigurationIn_t configuration, bool sliding);
109 
110  } // namespace wholebodyStep
111 } // namespace hpp
112 #endif // HPP_WHOLEBODY_STEP_STATIC_STABILITY_CONSTRAINT_HH
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: static-stability-constraint.hh:31
std::vector< ImplicitPtr_t > createAlignedCOMStabilityConstraint(const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration, bool sliding=true)
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:58
Definition: fwd.hh:28
std::vector< ImplicitPtr_t > createStaticStabilityConstraint(const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration, bool sliding)
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:30
constraints::Implicit Implicit
Definition: static-stability-constraint.hh:30
const std::string STABILITY_CONTEXT
std::vector< ImplicitPtr_t > createSlidingStabilityConstraintComplement(const DevicePtr_t &robot, const JointPtr_t &leftAnkle, ConfigurationIn_t configuration)
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:61
core::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:69