6 #ifndef BEZIER_COM_TRAJ_DEFINITIONS_H 7 #define BEZIER_COM_TRAJ_DEFINITIONS_H 9 #include <ndcurves/bezier_curve.h> 11 #include <Eigen/Dense> 12 #include <hpp/centroidal-dynamics/centroidal_dynamics.hh> 17 typedef Eigen::Matrix<value_type, 3, 3>
Matrix3;
18 typedef Eigen::Matrix<value_type, 6, 3>
Matrix63;
19 typedef Eigen::Matrix<value_type, 3, 9>
Matrix39;
20 typedef Eigen::Matrix<value_type, Eigen::Dynamic, 3>
MatrixX3;
21 typedef Eigen::Matrix<value_type, Eigen::Dynamic, Eigen::Dynamic>
MatrixXX;
55 typedef ndcurves::bezier_curve<double, double, true, point_t>
bezier_t;
56 typedef ndcurves::bezier_curve<double, double, true, waypoint_t>
bezier_wp_t;
57 typedef ndcurves::bezier_curve<double, double, true, point6_t>
bezier6_t;
59 typedef std::vector<std::pair<double, int> >
T_time;
62 typedef std::pair<double, point3_t>
coefs_t;
ndcurves::bezier_curve< double, double, true, waypoint_t > bezier_wp_t
Definition: definitions.hh:56
Eigen::Matrix< value_type, 6, 3 > Matrix63
Definition: definitions.hh:18
Vector6 point6_t
Definition: definitions.hh:38
Vector3 point3_t
Definition: definitions.hh:40
Eigen::Vector3d point_t
Definition: definitions.hh:42
const Eigen::Ref< const Vector3 > & Cref_vector3
Definition: definitions.hh:31
centroidal_dynamics::Vector3 Vector3
Definition: definitions.hh:22
std::pair< matrix3_t, point3_t > waypoint3_t
Definition: definitions.hh:51
Eigen::Ref< VectorX > Ref_vectorX
Definition: definitions.hh:27
const Eigen::Ref< const MatrixX3 > & Cref_matrixX3
Definition: definitions.hh:35
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:24
std::vector< std::pair< double, int > > T_time
Definition: definitions.hh:59
ndcurves::bezier_curve< double, double, true, point_t > bezier_t
Definition: definitions.hh:53
double value_type
Definition: definitions.hh:16
ndcurves::bezier_curve< double, double, true, point6_t > bezier6_t
Definition: definitions.hh:57
Matrix63 matrix6_t
Definition: definitions.hh:37
Eigen::Ref< Vector3 > Ref_vector3
Definition: definitions.hh:26
std::pair< double, point3_t > coefs_t
Definition: definitions.hh:62
const Eigen::Ref< const MatrixXX > & Cref_matrixXX
Definition: definitions.hh:34
Matrix3 matrix3_t
Definition: definitions.hh:39
Eigen::Matrix< value_type, 3, 9 > Matrix39
Definition: definitions.hh:19
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:50
std::pair< Matrix39, point3_t > waypoint9_t
Definition: definitions.hh:52
Eigen::Ref< MatrixXX > Ref_matrixXX
Definition: definitions.hh:29
Eigen::Matrix< value_type, 3, 3 > Matrix3
Definition: definitions.hh:17
const Eigen::Ref< const VectorX > & Cref_vectorX
Definition: definitions.hh:33
centroidal_dynamics::Vector6 Vector6
Definition: definitions.hh:23
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > MatrixXX
Definition: definitions.hh:21
Eigen::Matrix< value_type, Eigen::Dynamic, 3 > MatrixX3
Definition: definitions.hh:20
const Eigen::Ref< const point_t > & point_t_tC
Definition: definitions.hh:43
Definition: common_solve_methods.hh:15
Eigen::Ref< MatrixX3 > Ref_matrixX3
Definition: definitions.hh:28
const Eigen::Ref< const Vector6 > & Cref_vector6
Definition: definitions.hh:32
T_time::const_iterator CIT_time
Definition: definitions.hh:60