hpp-bezier-com-traj
5.2.0
Multi contact trajectory generation for the COM using Bezier curves
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6 #ifndef BEZIER_COM_TRAJ_LIB_DATA_H
7 #define BEZIER_COM_TRAJ_LIB_DATA_H
9 #include <ndcurves/bezier_curve.h>
11 #include <Eigen/Dense>
17 #include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
30 Kin_(Eigen::Matrix3d::Zero()),
32 Ang_(Eigen::Matrix3d::Zero()),
37 new centroidal_dynamics::Equilibrium(*(other.contactPhase_))),
44 : contactPhase_(contactPhase),
45 Kin_(Eigen::Matrix3d::Zero()),
47 Ang_(Eigen::Matrix3d::Zero()),
66 constraintAcceleration_(false),
67 maxAcceleration_(10.),
72 constraintAcceleration_(false),
73 maxAcceleration_(10.),
102 useAngularMomentum_(false),
GIWCRepresentation representation_
Definition: data.hh:112
point_t ddc1_
Definition: data.hh:133
bool constraintAcceleration_
Definition: data.hh:79
#define BEZIER_COM_TRAJ_DLLAPI
Definition: local_config.hh:52
Constraints()
Definition: data.hh:64
Used to define the constraints on the trajectory generation problem. Flags are used to constrain init...
Definition: data.hh:63
~ResultDataCOMTraj()
Definition: data.hh:128
ACCELERATION
Definition: flags.hh:13
point_t j1_
Definition: data.hh:107
double reduce_h_
Definition: data.hh:81
point_t dc1_
Definition: data.hh:132
~Constraints()
Definition: data.hh:76
bezier_t dL_of_t_
Definition: data.hh:131
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:24
ndcurves::bezier_curve< double, double, true, point_t > bezier_t
Definition: definitions.hh:53
Specialized ResultData that computes the Bezier curves corresponding to the computed trajectory.
Definition: data.hh:121
ConstraintFlag flag_
Definition: data.hh:78
bool useAngularMomentum_
Definition: data.hh:109
END_POS
Definition: flags.hh:23
Eigen::Vector3d point_t
Definition: definitions.hh:42
CostFunction costFunction_
Definition: data.hh:111
solvers::ResultData ResultData
Definition: data.hh:115
INIT_VEL
Definition: flags.hh:21
ProblemData()
Definition: data.hh:93
ResultDataCOMTraj()
Definition: data.hh:122
Constraints(ConstraintFlag flag)
Definition: data.hh:70
double maxAcceleration_
Definition: data.hh:80
Eigen::Matrix< value_type, Eigen::Dynamic, 3 > MatrixX3
Definition: definitions.hh:20
Struct used to return the results of the trajectory generation problem.
Definition: solver-abstract.hpp:52
point_t l0_
Definition: data.hh:108
Constraints constraints_
Definition: data.hh:110
DOUBLE_DESCRIPTION
Definition: flags.hh:37
Definition: common_solve_methods.hh:15
Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost fun...
Definition: data.hh:92
std::vector< ContactData > contacts_
Definition: data.hh:106
END_VEL
Definition: flags.hh:24
INIT_POS
Definition: flags.hh:20
bezier_t c_of_t_
Definition: data.hh:130