hpp-centroidal-dynamics  4.13.0
Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods.
centroidal_dynamics::Equilibrium Member List

This is the complete list of members for centroidal_dynamics::Equilibrium, including all inherited members.

checkAdmissibleAcceleration(Cref_matrix63 H, Cref_vector6 h, Cref_vector3 a)centroidal_dynamics::Equilibrium
checkRobustEquilibrium(Cref_vector3 com, bool &equilibrium, double e_max=0.0)centroidal_dynamics::Equilibrium
checkRobustEquilibrium(Cref_vector3 com, Cref_vector3 acc, bool &equilibrium, double e_max=0.0)centroidal_dynamics::Equilibrium
computeEquilibriumRobustness(Cref_vector3 com, double &robustness)centroidal_dynamics::Equilibrium
computeEquilibriumRobustness(Cref_vector3 com, Cref_vector3 acc, double &robustness)centroidal_dynamics::Equilibrium
Equilibrium(const std::string &name, const double mass, const unsigned int generatorsPerContact, const SolverLP solver_type=SOLVER_LP_QPOASES, bool useWarmStart=true, const unsigned int max_num_cdd_trials=0, const bool canonicalize_cdd_matrix=false)centroidal_dynamics::Equilibrium
Equilibrium(const Equilibrium &other)centroidal_dynamics::Equilibrium
findExtremumInDirection(Cref_vector3 direction, Ref_vector3 com, double e_max=0.0)centroidal_dynamics::Equilibrium
findExtremumOverLine(Cref_vector3 a, Cref_vector3 a0, double e_max, Ref_vector3 com)centroidal_dynamics::Equilibrium
findMaximumAcceleration(Cref_matrix63 H, Cref_vector6 h, Cref_vector3 v, double &alpha0)centroidal_dynamics::Equilibrium
getAlgorithm()centroidal_dynamics::Equilibriuminline
getName()centroidal_dynamics::Equilibriuminline
getPolytopeInequalities(MatrixXX &H, VectorX &h) constcentroidal_dynamics::Equilibrium
m_G_centrcentroidal_dynamics::Equilibrium
m_gravitycentroidal_dynamics::Equilibrium
m_masscentroidal_dynamics::Equilibrium
setAlgorithm(EquilibriumAlgorithm algorithm)centroidal_dynamics::Equilibrium
setG(Cref_matrix6X G)centroidal_dynamics::Equilibriuminline
setNewContacts(const MatrixX3 &contactPoints, const MatrixX3 &contactNormals, const double frictionCoefficient, const EquilibriumAlgorithm alg)centroidal_dynamics::Equilibrium
setNewContacts(const MatrixX3ColMajor &contactPoints, const MatrixX3ColMajor &contactNormals, const double frictionCoefficient, const EquilibriumAlgorithm alg)centroidal_dynamics::Equilibrium
setUseWarmStart(bool uws)centroidal_dynamics::Equilibriuminline
useWarmStart()centroidal_dynamics::Equilibriuminline
~Equilibrium()centroidal_dynamics::Equilibrium