hpp-bezier-com-traj  5.0.0
Multi contact trajectory generation for the COM using Bezier curves
waypoints_c0_dc0_ddc0_j0_j1_ddc1_dc1_c1.hh File Reference
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Namespaces

 bezier_com_traj
 
 bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1
 

Functions

coefs_t bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::evaluateCurveAtTime (const std::vector< point_t > &pi, double t)
 evaluateCurveAtTime compute the expression of the point on the curve at t, defined by the waypoint pi and one free waypoint (x) More...
 
coefs_t bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::evaluateVelocityCurveAtTime (const std::vector< point_t > &pi, double T, double t)
 
coefs_t bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::evaluateAccelerationCurveAtTime (const std::vector< point_t > &pi, double T, double t)
 
coefs_t bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::evaluateJerkCurveAtTime (const std::vector< point_t > &pi, double T, double t)
 
waypoint_t bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::evaluateCurveWaypointAtTime (const std::vector< point_t > &pi, double t)
 
waypoint_t bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::evaluateVelocityCurveWaypointAtTime (const std::vector< point_t > &pi, double T, double t)
 
waypoint_t bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::evaluateAccelerationCurveWaypointAtTime (const std::vector< point_t > &pi, double T, double t)
 
waypoint_t bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::evaluateJerkCurveWaypointAtTime (const std::vector< point_t > &pi, double T, double t)
 
std::vector< point_t > bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::computeConstantWaypoints (const ProblemData &pData, double T)
 
bezier_wp_t::t_point_t bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::computeWwaypoints (const ProblemData &pData, double T)
 
std::vector< waypoint_t > bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::computeVelocityWaypoints (const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
 
std::vector< waypoint_t > bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::computeAccelerationWaypoints (const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
 
std::vector< waypoint_t > bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::computeJerkWaypoints (const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())
 
coefs_t bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::computeFinalVelocityPoint (const ProblemData &pData, double T)
 
std::pair< MatrixXX, VectorX > bezier_com_traj::c0_dc0_ddc0_j0_j1_ddc1_dc1_c1::computeVelocityCost (const ProblemData &pData, double T, std::vector< bezier_t::point_t > pi=std::vector< bezier_t::point_t >())