hpp-bezier-com-traj  4.10.1
Multi contact trajectory generation for the COM using Bezier curves
solve.hh
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1 /*
2  * Copyright 2018, LAAS-CNRS
3  * Author: Steve Tonneau
4  */
5 
6 #ifndef BEZIER_COM_TRAJ_LIB_SOLVE_H
7 #define BEZIER_COM_TRAJ_LIB_SOLVE_H
8 
11 #include <Eigen/Dense>
12 
13 namespace bezier_com_traj {
25 BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj solve0step(const ProblemData& pData, const std::vector<double>& Ts,
26  const double timeStep = -1);
27 
37 BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj computeCOMTrajFixedSize(const ProblemData& pData, const VectorX& Ts,
38  const unsigned int pointsPerPhase = 3);
39 
52 BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj computeCOMTraj(const ProblemData& pData, const VectorX& Ts,
53  const double timeStep = -1,
54  const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
55 
56 } // end namespace bezier_com_traj
57 
58 #endif
BEZIER_COM_TRAJ_DLLAPI
#define BEZIER_COM_TRAJ_DLLAPI
Definition: local_config.hh:52
bezier_com_traj::computeCOMTraj
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj computeCOMTraj(const ProblemData &pData, const VectorX &Ts, const double timeStep=-1, const solvers::SolverType solver=solvers::SOLVER_QUADPROG)
computeCOMTraj Tries to solve the one step problem : Given two or three contact phases,...
Definition: computeCOMTraj.cpp:461
bezier_com_traj::VectorX
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:23
bezier_com_traj::solve0step
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj solve0step(const ProblemData &pData, const std::vector< double > &Ts, const double timeStep=-1)
solve0step Tries to solve the 0-step capturability problem. Given the current contact phase,...
Definition: solve_0_step.cpp:214
local_config.hh
bezier_com_traj::computeCOMTrajFixedSize
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj computeCOMTrajFixedSize(const ProblemData &pData, const VectorX &Ts, const unsigned int pointsPerPhase=3)
computeCOMTraj Tries to solve the one step problem : Given two or three contact phases,...
Definition: computeCOMTraj.cpp:444
data.hh
bezier_com_traj
Definition: common_solve_methods.hh:16