19 #ifndef HPP_RBPRM_STABILITY_HH 20 # define HPP_RBPRM_STABILITY_HH 22 #include <hpp/pinocchio/device.hh> 25 #include <hpp/centroidal-dynamics/centroidal_dynamics.hh> 36 typedef Eigen::Matrix <pinocchio::value_type, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
MatrixXX;
37 typedef Eigen::Matrix <pinocchio::value_type, Eigen::Dynamic, 1>
VectorX;
47 double IsStable(
const RbPrmFullBodyPtr_t fullbody,
State& state, fcl::Vec3f acc = fcl::Vec3f(0,0,0), fcl::Vec3f com = fcl::Vec3f(0,0,0),
const centroidal_dynamics::EquilibriumAlgorithm = centroidal_dynamics::EQUILIBRIUM_ALGORITHM_DLP);
64 #endif // HPP_RBPRM_STABILITY_HH Eigen::Matrix< pinocchio::value_type, 3, 1 > Vector3
Definition: rbprm-limb.hh:50
centroidal_dynamics::Vector3 setupLibrary(const RbPrmFullBodyPtr_t fullbody, State &state, centroidal_dynamics::Equilibrium &sEq, centroidal_dynamics::EquilibriumAlgorithm &alg, core::value_type friction=0.6, const double feetX=0, const double feetY=0)
Definition: algorithm.hh:27
boost::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, 1 > VectorX
Definition: stability.hh:37
centroidal_dynamics::Equilibrium initLibrary(const RbPrmFullBodyPtr_t fullbody)
Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > MatrixXX
Definition: stability.hh:36
double IsStable(const RbPrmFullBodyPtr_t fullbody, State &state, fcl::Vec3f acc=fcl::Vec3f(0, 0, 0), fcl::Vec3f com=fcl::Vec3f(0, 0, 0), const centroidal_dynamics::EquilibriumAlgorithm=centroidal_dynamics::EQUILIBRIUM_ALGORITHM_DLP)
std::pair< MatrixXX, VectorX > ComputeCentroidalCone(const RbPrmFullBodyPtr_t fullbody, State &state, const core::value_type friction=0.5)
Definition: rbprm-state.hh:40