![]() ![]() | |
![]() ![]() | |
![]() ![]() ![]() | |
![]() ![]() ![]() ![]() | |
![]() ![]() ![]() ![]() | |
![]() ![]() | Simulate a rigid body |
![]() ![]() ![]() | This class is the interface between the Pattern Generator and the external world |
![]() ![]() ![]() | Structure to store the COM position computed by the preview control |
![]() ![]() ![]() | Structure to store the COM state computed by the preview control |
![]() ![]() ![]() | Structure to store each foot position when the user is specifying a sequence of relative positions |
![]() ![]() ![]() | Structure to store each of the ZMP value, with a given direction at a certain time |
![]() ![]() ![]() | Structure to store the absolute foot position |
![]() ![]() ![]() | Structure to store the absolute foot position |
![]() ![]() ![]() | |
![]() ![]() ![]() | Linear constraints with variable feet placement |
![]() ![]() ![]() | |
![]() ![]() ![]() | Structure to store the absolute reference |
![]() ![]() ![]() | Structure to model a circle (e.g : a stricly convex obstable) |
![]() ![]() ![]() | |
![]() ![]() ![]() | |
![]() ![]() ![]() | |
![]() ![]() ![]() | Bspline class |
![]() ![]() ![]() | Bsplines used for Z trajectory of stair steps |
![]() ![]() ![]() | |
![]() ![]() ![]() | |
![]() ![]() ![]() | |
![]() ![]() ![]() | |
![]() ![]() ![]() | |
![]() ![]() ![]() | Custom (value based) container providing intermediate elements for the construction of a QP |
![]() ![]() ![]() ![]() | |
![]() ![]() ![]() ![]() | |
![]() ![]() ![]() | Class for computing trajectories |
![]() ![]() ![]() | |
![]() ![]() ![]() | Polynome used for X,Y and Theta trajectories |
![]() ![]() ![]() | Polynome used for Z trajectory |
![]() ![]() ![]() | Polynome used for X,Y and Theta trajectories |
![]() ![]() ![]() | Polynome used for Z trajectory |
![]() ![]() ![]() | Polynome used for X,Y and Theta trajectories |
![]() ![]() ![]() | Generate a stack of inequalities relative to feet centers for the whole preview window |
![]() ![]() ![]() | Polynome used for Z trajectory during stepover |
![]() ![]() ![]() | Polynome used for Z trajectory during stepover |
![]() ![]() ![]() | Polynome used for X trajectory in function of time to combine with StepOverPolynomeFootZtoX |
![]() ![]() ![]() | Polynome for the hip trajectory |
![]() ![]() ![]() | Spline function calculation class to calculate cubic splines |
![]() ![]() ![]() | |
![]() ![]() ![]() | |
![]() ![]() ![]() | This class computes the gains for preview control for a given discrete system. The discrete system is defined by three matrix A, b, c such as :
\begin{eqnarray*} {\bf x}_{k+1} & =& {\bf A} x_k + {\bf b} u_k \\ p_k &=& {\bf cx}_k\\ \end{eqnarray*} |
![]() ![]() ![]() | Class to implement the preview control |
![]() ![]() ![]() | |
![]() ![]() ![]() | State vectors |
![]() ![]() ![]() | |
![]() ![]() ![]() | |
![]() ![]() ![]() | Finite state machine to determine the support parameters |
![]() ![]() ![]() | Object to generate the angle positions every 5 ms from a set of absolute foot positions |
![]() ![]() | |
![]() ![]() | |
![]() ![]() | |
![]() ![]() | |
![]() ![]() | |
![]() ![]() | |
![]() ![]() | |
![]() ![]() | |
![]() ![]() | |
![]() ![]() | |
![]() ![]() | |
![]() ![]() | |
![]() ![]() |