hpp-bezier-com-traj  4.14.0
Multi contact trajectory generation for the COM using Bezier curves
solve.hh
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1 /*
2  * Copyright 2018, LAAS-CNRS
3  * Author: Steve Tonneau
4  */
5 
6 #ifndef BEZIER_COM_TRAJ_LIB_SOLVE_H
7 #define BEZIER_COM_TRAJ_LIB_SOLVE_H
8 
9 #include <Eigen/Dense>
12 
13 namespace bezier_com_traj {
27 BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj
28 solve0step(const ProblemData& pData, const std::vector<double>& Ts,
29  const double timeStep = -1);
30 
42 BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj
43 computeCOMTrajFixedSize(const ProblemData& pData, const VectorX& Ts,
44  const unsigned int pointsPerPhase = 3);
45 
62 BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj computeCOMTraj(
63  const ProblemData& pData, const VectorX& Ts, const double timeStep = -1,
64  const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
65 
66 } // end namespace bezier_com_traj
67 
68 #endif
#define BEZIER_COM_TRAJ_DLLAPI
Definition: local_config.hh:52
Definition: common_solve_methods.hh:15
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:24
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj computeCOMTraj(const ProblemData &pData, const VectorX &Ts, const double timeStep=-1, const solvers::SolverType solver=solvers::SOLVER_QUADPROG)
computeCOMTraj Tries to solve the one step problem : Given two or three contact phases,...
Definition: computeCOMTraj.cpp:552
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj computeCOMTrajFixedSize(const ProblemData &pData, const VectorX &Ts, const unsigned int pointsPerPhase=3)
computeCOMTraj Tries to solve the one step problem : Given two or three contact phases,...
Definition: computeCOMTraj.cpp:530
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj solve0step(const ProblemData &pData, const std::vector< double > &Ts, const double timeStep=-1)
solve0step Tries to solve the 0-step capturability problem. Given the current contact phase,...
Definition: solve_0_step.cpp:231