Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost functions. Also,a list of ContactData defines the different phases of the problem. While the method can handle any phase greater than one, using more than three phases is probably too constraining.
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#include <hpp/bezier-com-traj/data.hh>
Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost functions. Also,a list of ContactData defines the different phases of the problem. While the method can handle any phase greater than one, using more than three phases is probably too constraining.
◆ ProblemData()
bezier_com_traj::ProblemData::ProblemData |
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inline |
◆ c0_
point_t bezier_com_traj::ProblemData::c0_ |
◆ c1_
point_t bezier_com_traj::ProblemData::c1_ |
◆ constraints_
◆ contacts_
std::vector<ContactData> bezier_com_traj::ProblemData::contacts_ |
◆ costFunction_
CostFunction bezier_com_traj::ProblemData::costFunction_ |
◆ dc0_
point_t bezier_com_traj::ProblemData::dc0_ |
◆ dc1_
point_t bezier_com_traj::ProblemData::dc1_ |
◆ ddc0_
point_t bezier_com_traj::ProblemData::ddc0_ |
◆ ddc1_
point_t bezier_com_traj::ProblemData::ddc1_ |
◆ j0_
point_t bezier_com_traj::ProblemData::j0_ |
◆ j1_
point_t bezier_com_traj::ProblemData::j1_ |
◆ l0_
point_t bezier_com_traj::ProblemData::l0_ |
◆ representation_
GIWCRepresentation bezier_com_traj::ProblemData::representation_ |
◆ useAngularMomentum_
bool bezier_com_traj::ProblemData::useAngularMomentum_ |
The documentation for this struct was generated from the following file:
- include/hpp/bezier-com-traj/data.hh