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| SimpleQuadrupedGaitProblem (const pinocchio::Model &rmodel, const std::string &lf_foot, const std::string &rf_foot, const std::string &lh_foot, const std::string &rh_foot) |
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std::vector< boost::shared_ptr< crocoddyl::ActionModelAbstract > > | createFootStepModels (double timeStep, Eigen::Vector3d &comPos0, std::vector< Eigen::Vector3d > &feetPos0, double stepLength, double stepHeight, std::size_t numKnots, const std::vector< pinocchio::FrameIndex > &supportFootIds, const std::vector< pinocchio::FrameIndex > &swingFootIds) |
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boost::shared_ptr< ActionModelAbstract > | createFootSwitchModel (const std::vector< pinocchio::FrameIndex > &supportFootIds, const std::vector< FramePlacement > &swingFootTask, bool pseudoImpulse=false) |
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boost::shared_ptr< ActionModelAbstract > | createImpulseModel (const std::vector< pinocchio::FrameIndex > &supportFootIds, const std::vector< FramePlacement > &swingFootTask) |
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boost::shared_ptr< ActionModelAbstract > | createPseudoImpulseModel (const std::vector< pinocchio::FrameIndex > &supportFootIds, const std::vector< FramePlacement > &swingFootTask) |
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boost::shared_ptr< ActionModelAbstract > | createSwingFootModel (double timeStep, const std::vector< pinocchio::FrameIndex > &supportFootIds, const Eigen::Vector3d &comTask=Eigen::Vector3d::Constant(std::numeric_limits< double >::infinity()), const std::vector< crocoddyl::FramePlacement > &swingFootTask=std::vector< crocoddyl::FramePlacement >()) |
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boost::shared_ptr< crocoddyl::ShootingProblem > | createWalkingProblem (const Eigen::VectorXd &x0, const double stepLength, const double stepHeight, const double timeStep, const std::size_t stepKnots, const std::size_t supportKnots) |
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const Eigen::VectorXd & | get_defaultState () const |
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Definition at line 36 of file quadruped-gaits.hpp.