hpp-rbprm  4.13.0
Implementation of RB-PRM planner using hpp.
stability.hh File Reference
#include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
#include <hpp/pinocchio/device.hh>
#include <hpp/rbprm/rbprm-fullbody.hh>
#include <hpp/rbprm/rbprm-state.hh>
#include <map>
#include <memory>
Include dependency graph for stability.hh:

Go to the source code of this file.

Namespaces

 hpp
 
 hpp::rbprm
 
 hpp::rbprm::stability
 

Typedefs

typedef Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > hpp::rbprm::stability::MatrixXX
 
typedef Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, 1 > hpp::rbprm::stability::VectorX
 

Functions

double hpp::rbprm::stability::IsStable (const RbPrmFullBodyPtr_t fullbody, State &state, fcl::Vec3f acc=fcl::Vec3f(0, 0, 0), fcl::Vec3f com=fcl::Vec3f(0, 0, 0), const centroidal_dynamics::EquilibriumAlgorithm=centroidal_dynamics::EQUILIBRIUM_ALGORITHM_DLP)
 
std::pair< MatrixXX, VectorX > hpp::rbprm::stability::ComputeCentroidalCone (const RbPrmFullBodyPtr_t fullbody, State &state, const core::value_type friction=0.5)
 
centroidal_dynamics::Equilibrium hpp::rbprm::stability::initLibrary (const RbPrmFullBodyPtr_t fullbody)
 
centroidal_dynamics::Vector3 hpp::rbprm::stability::setupLibrary (const RbPrmFullBodyPtr_t fullbody, State &state, centroidal_dynamics::Equilibrium &sEq, centroidal_dynamics::EquilibriumAlgorithm &alg, core::value_type friction=0.6, const double feetX=0, const double feetY=0)