hpp-bezier-com-traj
4.10.0
Multi contact trajectory generation for the COM using Bezier curves
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6 #ifndef BEZIER_COM_TRAJ_LIB_COMMON_SOLVE_H
7 #define BEZIER_COM_TRAJ_LIB_COMMON_SOLVE_H
12 #include <hpp/bezier-com-traj/solver/solver-abstract.hpp>
14 #include <Eigen/Dense>
27 const std::vector<waypoint6_t>& wps,
const std::vector<curves::Bern<double> >& bernstein,
int numSteps);
40 const ContactData& cData,
const std::vector<waypoint6_t>& wps,
const std::vector<waypoint6_t>& wpL,
41 const bool useAngMomentum,
bool& fail);
55 const ContactData& cData,
const std::vector<waypoint6_t>& wps,
const std::vector<waypoint6_t>& wpL,
56 const bool useAngMomentum,
bool& fail);
74 const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
87 const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
97 const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
112 const std::pair<MatrixXX, VectorX>& Hg,
Cref_vectorX minBounds,
114 const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
116 template <
typename Po
int>
121 template <
typename Po
int>
127 #include "common_solve_methods.inl"
BEZIER_COM_TRAJ_DLLAPI std::pair< MatrixXX, VectorX > compute6dControlPointEqualities(const ContactData &cData, const std::vector< waypoint6_t > &wps, const std::vector< waypoint6_t > &wpL, const bool useAngMomentum, bool &fail)
compute6dControlPointEqualities Given linear and angular control waypoints, compute the equality matr...
BEZIER_COM_TRAJ_DLLAPI std::pair< MatrixXX, VectorX > compute6dControlPointInequalities(const ContactData &cData, const std::vector< waypoint6_t > &wps, const std::vector< waypoint6_t > &wpL, const bool useAngMomentum, bool &fail)
compute6dControlPointInequalities Given linear and angular control waypoints, compute the inequality ...
Definition: common_solve_methods.cpp:82
#define BEZIER_COM_TRAJ_DLLAPI
Definition: local_config.hh:52
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:23
BEZIER_COM_TRAJ_DLLAPI std::vector< waypoint6_t > ComputeDiscretizedWaypoints(const std::vector< waypoint6_t > &wps, const std::vector< curves::Bern< double > > &bernstein, int numSteps)
ComputeDiscretizedWaypoints Given the waypoints defining a bezier curve, computes a discretization of...
Definition: common_solve_methods.cpp:8
std::vector< std::pair< double, int > > T_time
Definition: definitions.hh:58
solvers::ResultData ResultData
Definition: data.hh:111
BEZIER_COM_TRAJ_DLLAPI ResultData solve(Cref_matrixXX A, Cref_vectorX b, Cref_matrixXX H, Cref_vectorX g, Cref_vectorX initGuess, Cref_vectorX minBounds, Cref_vectorX maxBounds, const solvers::SolverType solver=solvers::SOLVER_QUADPROG)
solve x' h x + 2 g' x, subject to A*x <= b using quadprog
BEZIER_COM_TRAJ_DLLAPI std::vector< std::pair< double, Point > > computeDiscretizedWaypoints(const ProblemData &pData, double T, const T_time &timeArray)
const typedef Eigen::Ref< const VectorX > & Cref_vectorX
Definition: definitions.hh:32
BEZIER_COM_TRAJ_DLLAPI std::vector< std::pair< double, Point > > computeDiscretizedAccelerationWaypoints(const ProblemData &pData, double T, const T_time &timeArray)
const typedef Eigen::Ref< const MatrixXX > & Cref_matrixXX
Definition: definitions.hh:33
Definition: common_solve_methods.hh:16
Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost fun...
Definition: data.hh:88