hpp-bezier-com-traj  4.14.0
Multi contact trajectory generation for the COM using Bezier curves
Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
 Nbezier_com_traj
 CContactDataContact data contains all the contact information relative to a contact phase: contact points and normals (within Equilibrium object), as well as any additional kinematic and angular constraints
 CConstraintsUsed to define the constraints on the trajectory generation problem. Flags are used to constrain initial and terminal com positions an derivatives. Additionally, the maximum acceleration can be bounded
 CProblemDataDefines all the inputs of the problem: Initial and terminal constraints, as well as selected cost functions. Also,a list of ContactData defines the different phases of the problem. While the method can handle any phase greater than one, using more than three phases is probably too constraining
 CResultDataCOMTrajSpecialized ResultData that computes the Bezier curves corresponding to the computed trajectory
 Cwaypoint_t
 Nsolvers
 CResultDataStruct used to return the results of the trajectory generation problem
 Ntsid
 Nsolvers
 CEiquadprogFast