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
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
std::vector< ImplicitPtr_t > createSlidingStabilityConstraint(const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration) HPP_WHOLEBODY_STEP_DEPRECATED
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