#include <sot/core/debug.hh>
#include <sot-dyninv/solver-dyn-reduced.h>
#include <sot-dyninv/commands-helper.h>
#include <dynamic-graph/factory.h>
#include <boost/foreach.hpp>
#include <dynamic-graph/pool.h>
#include <soth/HCOD.hpp>
#include <sot-dyninv/task-dyn-pd.h>
#include <sot/core/feature-point6d.hh>
#include <iostream>
#include <sstream>
#include <soth/Algebra.hpp>
#include <Eigen/QR>
#include <Eigen/Cholesky>
Namespaces | |
dynamicgraph | |
This class proposes to integrate the acceleration given in input to produce both velocity and acceleration. | |
dynamicgraph::sot | |
dynamicgraph::sot::dyninv | |
dynamicgraph::sot::dyninv::sotSolverDyn | |
Macros | |
#define | VP_DEBUG_MODE 50 |
#define | COLS(__ri, __rs) leftCols(__rs).rightCols((__rs)-(__ri)) |
#define | ROWS(__ri, __rs) topRows(__rs).bottomRows((__rs)-(__ri)) |
#define | COLS_U leftCols( nu ) |
#define | COLS_F rightCols( npsi ) |
#define | ROWS_FF topRows( 6 ) |
#define | ROWS_ACT bottomRows( nq-6 ) |
Functions | |
dynamicgraph::sot::dyninv::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SolverDynReduced,"SolverDynReduced") | |
static std::string | dynamicgraph::sot::dyninv::signalShortName (const std::string &longName) |
template<typename D1 , typename D2 > | |
void | dynamicgraph::sot::dyninv::sotSolverDyn::preCross (const Eigen::MatrixBase< D1 > &M, Eigen::MatrixBase< D2 > &Tx) |
template<typename D1 , typename D2 > | |
Eigen::MatrixBase< D1 > & | dynamicgraph::sot::dyninv::sotSolverDyn::vbAssign (Eigen::MatrixBase< D1 > &vb, const Eigen::MatrixBase< D2 > &vx) |
soth::VectorBound & | dynamicgraph::sot::dyninv::sotSolverDyn::vbAssign (soth::VectorBound &vb, const dg::sot::VectorMultiBound &vx) |
template<typename D > | |
soth::VectorBound & | dynamicgraph::sot::dyninv::sotSolverDyn::vbSubstract (soth::VectorBound &vb, const Eigen::MatrixBase< D > &vx) |
template<typename D > | |
soth::VectorBound & | dynamicgraph::sot::dyninv::sotSolverDyn::vbAdd (soth::VectorBound &vb, const Eigen::MatrixBase< D > &vx) |
#define COLS | ( | __ri, | |
__rs | |||
) | leftCols(__rs).rightCols((__rs)-(__ri)) |
#define COLS_F rightCols( npsi ) |
#define COLS_U leftCols( nu ) |
#define ROWS | ( | __ri, | |
__rs | |||
) | topRows(__rs).bottomRows((__rs)-(__ri)) |
#define ROWS_ACT bottomRows( nq-6 ) |
#define ROWS_FF topRows( 6 ) |
#define VP_DEBUG_MODE 50 |