6 #ifndef HPP_CENTROIDAL_DYNAMICS_CENTROIDAL_DYNAMICS_HH
7 #define HPP_CENTROIDAL_DYNAMICS_CENTROIDAL_DYNAMICS_HH
23 EQUILIBRIUM_ALGORITHM_DIP
36 static bool m_is_cdd_initialized;
40 EquilibriumAlgorithm m_algorithm;
41 SolverLP m_solver_type;
44 unsigned int m_generatorsPerContact;
56 const unsigned max_num_cdd_trials;
59 const bool canonicalize_cdd_matrix;
71 double m_b0_to_emax_coefficient;
76 double frictionCoefficient,
77 const bool perturbate =
false);
87 double convert_b0_to_emax(
double b0);
89 double convert_emax_to_b0(
double emax);
92 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
108 const unsigned int generatorsPerContact,
109 const SolverLP solver_type = SOLVER_LP_QPOASES,
110 bool useWarmStart =
true,
111 const unsigned int max_num_cdd_trials = 0,
112 const bool canonicalize_cdd_matrix =
false);
140 void setAlgorithm(EquilibriumAlgorithm algorithm);
154 bool setNewContacts(
const MatrixX3& contactPoints,
156 const double frictionCoefficient,
157 const EquilibriumAlgorithm alg);
174 const double frictionCoefficient,
175 const EquilibriumAlgorithm alg);
197 LP_status computeEquilibriumRobustness(
Cref_vector3 com,
double& robustness);
240 LP_status checkRobustEquilibrium(
Cref_vector3 com,
bool& equilibrium,
264 bool& equilibrium,
double e_max = 0.0);
EQUILIBRIUM_ALGORITHM_PP
dual LP formulation
Definition: centroidal_dynamics.hh:20
EQUILIBRIUM_ALGORITHM_LP2
primal LP formulation
Definition: centroidal_dynamics.hh:18
EQUILIBRIUM_ALGORITHM_LP
Definition: centroidal_dynamics.hh:17
EQUILIBRIUM_ALGORITHM_IP
polytope projection algorithm
Definition: centroidal_dynamics.hh:21
EQUILIBRIUM_ALGORITHM_DLP
another primal LP formulation
Definition: centroidal_dynamics.hh:19
Definition: centroidal_dynamics.hh:27
void setG(Cref_matrix6X G)
Definition: centroidal_dynamics.hh:177
EquilibriumAlgorithm getAlgorithm()
Definition: centroidal_dynamics.hh:138
std::string getName()
Get the name of this object.
Definition: centroidal_dynamics.hh:136
void setUseWarmStart(bool uws)
Specifies whether the LP solver is allowed to use warm start.
Definition: centroidal_dynamics.hh:130
Matrix6X m_G_centr
gravity vector
Definition: centroidal_dynamics.hh:33
const double m_mass
Definition: centroidal_dynamics.hh:29
EIGEN_MAKE_ALIGNED_OPERATOR_NEW 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)
Equilibrium constructor.
bool useWarmStart()
Returns the useWarmStart flag.
Definition: centroidal_dynamics.hh:123
const Vector3 m_gravity
mass of the system
Definition: centroidal_dynamics.hh:30
Abstract interface for a Linear Program (LP) solver.
Definition: solver_LP_abstract.hh:41
virtual void setUseWarmStart(bool useWarmStart)
Definition: solver_LP_abstract.hh:128
virtual bool getUseWarmStart()
Definition: solver_LP_abstract.hh:126
#define CENTROIDAL_DYNAMICS_DLLAPI
Definition: local_config.hh:52
Definition: centroidal_dynamics.hh:14
const Eigen::Ref< const Matrix63 > & Cref_matrix63
Definition: util.hh:68
Eigen::Matrix< value_type, 3, 1 > Vector3
Definition: util.hh:32
Eigen::Matrix< value_type, 6, 1 > Vector6
Definition: util.hh:34
const Eigen::Ref< const Vector6 > & Cref_vector6
Definition: util.hh:62
Eigen::Matrix< value_type, Eigen::Dynamic, 3, Eigen::ColMajor > MatrixX3ColMajor
Definition: util.hh:73
const Eigen::Ref< const MatrixX3 > & Cref_matrixX3
Definition: util.hh:65
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > VectorX
Definition: util.hh:35
const Eigen::Ref< const Vector3 > & Cref_vector3
Definition: util.hh:61
const Eigen::Ref< const Matrix6X > & Cref_matrix6X
Definition: util.hh:67
Eigen::Matrix< value_type, 6, 3, Eigen::RowMajor > Matrix63
Definition: util.hh:45
Eigen::Matrix< value_type, 6, Eigen::Dynamic, Eigen::RowMajor > Matrix6X
Definition: util.hh:43
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > MatrixXX
Definition: util.hh:49
Eigen::Matrix< value_type, Eigen::Dynamic, 3, Eigen::RowMajor > MatrixX3
Definition: util.hh:40
Eigen::Ref< Vector3 > Ref_vector3
Definition: util.hh:52