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| WBC () |
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| WBC (const WBCSettings &settings, const RobotDesigner &design, const HorizonManager &horizon, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0, const std::string &actuationCostName) |
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void | initialize (const WBCSettings &settings, const RobotDesigner &design, const HorizonManager &horizon, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0, const std::string &actuationCostName) |
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void | initializeSupportTiming () |
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void | updateSupportTiming () |
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const supportSwitch & | getSwitches (const unsigned long before, const unsigned long after) |
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const Eigen::VectorXd & | shapeState (const Eigen::VectorXd &q, const Eigen::VectorXd &v) |
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void | generateWalkingCycle (ModelMaker &mm) |
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void | generateStandingCycle (ModelMaker &mm) |
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void | updateStepCycleTiming () |
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bool | timeToSolveDDP (int iteration) |
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void | iterate (const Eigen::VectorXd &q_current, const Eigen::VectorXd &v_current, bool is_feasible) |
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void | iterate (int iteration, const Eigen::VectorXd &q_current, const Eigen::VectorXd &v_current, bool is_feasible) |
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void | recedeWithCycle () |
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void | recedeWithCycle (HorizonManager &cycle) |
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WBCSettings & | get_settings () |
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const Eigen::VectorXd & | get_x0 () const |
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void | set_x0 (const Eigen::VectorXd &x0) |
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HorizonManager & | get_walkingCycle () |
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void | set_walkingCycle (const HorizonManager &walkingCycle) |
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HorizonManager & | get_standingCycle () |
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void | set_standingCycle (const HorizonManager &standingCycle) |
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HorizonManager & | get_horizon () |
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void | set_horizon (const HorizonManager &horizon) |
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RobotDesigner & | get_designer () |
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void | set_designer (const RobotDesigner &designer) |
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const std::vector< int > & | get_land_LF () |
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const std::vector< int > & | get_land_RF () |
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const std::vector< int > & | get_takeoff_LF () |
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const std::vector< int > & | get_takeoff_RF () |
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const std::vector< pinocchio::SE3 > & | getPoseRef_LF () |
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const pinocchio::SE3 & | getPoseRef_LF (unsigned long time) |
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void | setPoseRef_LF (const std::vector< pinocchio::SE3 > &ref_LF_poses) |
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void | setPoseRef_LF (const pinocchio::SE3 &ref_LF_pose, unsigned long time) |
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const std::vector< pinocchio::SE3 > & | getPoseRef_RF () |
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const pinocchio::SE3 & | getPoseRef_RF (unsigned long time) |
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void | setPoseRef_RF (const std::vector< pinocchio::SE3 > &ref_RF_poses) |
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void | setPoseRef_RF (const pinocchio::SE3 &ref_RF_pose, unsigned long time) |
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const std::vector< eVector3 > & | getVelRef_COM () |
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const eVector3 & | getVelRef_COM (unsigned long time) |
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void | setVelRef_COM (const std::vector< eVector3 > &ref_com_vel) |
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void | setVelRef_COM (const eVector3 &ref_com_vel, unsigned long time) |
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std::vector< pinocchio::SE3 > & | ref_LF_poses () |
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std::vector< pinocchio::SE3 > & | ref_RF_poses () |
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std::vector< eVector3 > & | ref_com_vel () |
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void | switchToWalk () |
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void | switchToStand () |
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LocomotionType | currentLocomotion () |
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