hpp-bezier-com-traj  4.11.0
Multi contact trajectory generation for the COM using Bezier curves
definitions.hh
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1 /*
2  * Copyright 2018, LAAS-CNRS
3  * Author: Steve Tonneau
4  */
5 
6 #ifndef BEZIER_COM_TRAJ_DEFINITIONS_H
7 #define BEZIER_COM_TRAJ_DEFINITIONS_H
8 
9 #include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
10 #include <ndcurves/bezier_curve.h>
11 #include <Eigen/Dense>
12 
13 namespace bezier_com_traj {
14 
15 typedef double value_type;
16 typedef Eigen::Matrix<value_type, 3, 3> Matrix3;
17 typedef Eigen::Matrix<value_type, 6, 3> Matrix63;
18 typedef Eigen::Matrix<value_type, 3, 9> Matrix39;
19 typedef Eigen::Matrix<value_type, Eigen::Dynamic, 3> MatrixX3;
20 typedef Eigen::Matrix<value_type, Eigen::Dynamic, Eigen::Dynamic> MatrixXX;
24 
25 typedef Eigen::Ref<Vector3> Ref_vector3;
26 typedef Eigen::Ref<VectorX> Ref_vectorX;
27 typedef Eigen::Ref<MatrixX3> Ref_matrixX3;
28 typedef Eigen::Ref<MatrixXX> Ref_matrixXX;
29 
30 typedef const Eigen::Ref<const Vector3>& Cref_vector3;
31 typedef const Eigen::Ref<const Vector6>& Cref_vector6;
32 typedef const Eigen::Ref<const VectorX>& Cref_vectorX;
33 typedef const Eigen::Ref<const MatrixXX>& Cref_matrixXX;
34 typedef const Eigen::Ref<const MatrixX3>& Cref_matrixX3;
35 
36 typedef Matrix63 matrix6_t;
37 typedef Vector6 point6_t;
38 typedef Matrix3 matrix3_t;
39 typedef Vector3 point3_t;
40 
41 typedef Eigen::Vector3d point_t;
42 typedef const Eigen::Ref<const point_t>& point_t_tC;
43 
49 typedef std::pair<matrix6_t, point6_t> waypoint6_t;
50 typedef std::pair<matrix3_t, point3_t> waypoint3_t;
51 typedef std::pair<Matrix39, point3_t> waypoint9_t;
52 struct waypoint_t; // forward declaration
53 
54 typedef ndcurves::bezier_curve<double, double, true, point_t> bezier_t;
55 typedef ndcurves::bezier_curve<double, double, true, waypoint_t> bezier_wp_t;
56 typedef ndcurves::bezier_curve<double, double, true, point6_t> bezier6_t;
57 
58 typedef std::vector<std::pair<double, int> > T_time;
59 typedef T_time::const_iterator CIT_time;
60 
61 typedef std::pair<double, point3_t> coefs_t;
62 
63 } // end namespace bezier_com_traj
64 
65 #endif
ndcurves::bezier_curve< double, double, true, waypoint_t > bezier_wp_t
Definition: definitions.hh:55
Eigen::Matrix< value_type, 6, 3 > Matrix63
Definition: definitions.hh:17
Vector6 point6_t
Definition: definitions.hh:37
Vector3 point3_t
Definition: definitions.hh:39
Eigen::Vector3d point_t
Definition: definitions.hh:41
const Eigen::Ref< const Vector3 > & Cref_vector3
Definition: definitions.hh:30
centroidal_dynamics::Vector3 Vector3
Definition: definitions.hh:21
std::pair< matrix3_t, point3_t > waypoint3_t
Definition: definitions.hh:50
Eigen::Ref< VectorX > Ref_vectorX
Definition: definitions.hh:26
const Eigen::Ref< const MatrixX3 > & Cref_matrixX3
Definition: definitions.hh:34
Definition: utils.hh:27
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:23
std::vector< std::pair< double, int > > T_time
Definition: definitions.hh:58
ndcurves::bezier_curve< double, double, true, point_t > bezier_t
Definition: definitions.hh:52
double value_type
Definition: definitions.hh:15
ndcurves::bezier_curve< double, double, true, point6_t > bezier6_t
Definition: definitions.hh:56
Matrix63 matrix6_t
Definition: definitions.hh:36
Eigen::Ref< Vector3 > Ref_vector3
Definition: definitions.hh:25
std::pair< double, point3_t > coefs_t
Definition: definitions.hh:61
const Eigen::Ref< const MatrixXX > & Cref_matrixXX
Definition: definitions.hh:33
Matrix3 matrix3_t
Definition: definitions.hh:38
Eigen::Matrix< value_type, 3, 9 > Matrix39
Definition: definitions.hh:18
std::pair< matrix6_t, point6_t > waypoint6_t
waypoint_t a waypoint is composed of a 6*3 matrix that depend on the variable x, and of a 6d vector i...
Definition: definitions.hh:49
std::pair< Matrix39, point3_t > waypoint9_t
Definition: definitions.hh:51
Eigen::Ref< MatrixXX > Ref_matrixXX
Definition: definitions.hh:28
Eigen::Matrix< value_type, 3, 3 > Matrix3
Definition: definitions.hh:16
const Eigen::Ref< const VectorX > & Cref_vectorX
Definition: definitions.hh:32
centroidal_dynamics::Vector6 Vector6
Definition: definitions.hh:22
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > MatrixXX
Definition: definitions.hh:20
Eigen::Matrix< value_type, Eigen::Dynamic, 3 > MatrixX3
Definition: definitions.hh:19
const Eigen::Ref< const point_t > & point_t_tC
Definition: definitions.hh:42
Definition: common_solve_methods.hh:16
Eigen::Ref< MatrixX3 > Ref_matrixX3
Definition: definitions.hh:27
const Eigen::Ref< const Vector6 > & Cref_vector6
Definition: definitions.hh:31
T_time::const_iterator CIT_time
Definition: definitions.hh:59