hpp-bezier-com-traj
4.9.0
Multi contact trajectory generation for the COM using Bezier curves
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6 #ifndef BEZIER_COM_TRAJ_DEFINITIONS_H
7 #define BEZIER_COM_TRAJ_DEFINITIONS_H
9 #include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
10 #include <curves/bezier_curve.h>
11 #include <Eigen/Dense>
16 typedef Eigen::Matrix<value_type, 3, 3>
Matrix3;
17 typedef Eigen::Matrix<value_type, 6, 3>
Matrix63;
18 typedef Eigen::Matrix<value_type, 3, 9>
Matrix39;
19 typedef Eigen::Matrix<value_type, Eigen::Dynamic, 3>
MatrixX3;
20 typedef Eigen::Matrix<value_type, Eigen::Dynamic, Eigen::Dynamic>
MatrixXX;
54 typedef curves::bezier_curve<double, double, true, point_t>
bezier_t;
55 typedef curves::bezier_curve<double, double, true, waypoint_t>
bezier_wp_t;
56 typedef curves::bezier_curve<double, double, true, point6_t>
bezier6_t;
58 typedef std::vector<std::pair<double, int> >
T_time;
61 typedef std::pair<double, point3_t>
coefs_t;
Eigen::Matrix< value_type, 3, 9 > Matrix39
Definition: definitions.hh:18
const typedef Eigen::Ref< const Vector3 > & Cref_vector3
Definition: definitions.hh:30
Eigen::Matrix< value_type, 6, 3 > Matrix63
Definition: definitions.hh:17
Eigen::Ref< Vector3 > Ref_vector3
Definition: definitions.hh:25
const typedef Eigen::Ref< const MatrixX3 > & Cref_matrixX3
Definition: definitions.hh:34
centroidal_dynamics::Vector6 Vector6
Definition: definitions.hh:22
double value_type
Definition: definitions.hh:15
std::pair< matrix6_t, point6_t > waypoint6_t
waypoint_t a waypoint is composed of a 6*3 matrix that depend on the variable x, and of a 6d vector i...
Definition: definitions.hh:49
Matrix63 matrix6_t
Definition: definitions.hh:36
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:23
Matrix3 matrix3_t
Definition: definitions.hh:38
std::pair< double, point3_t > coefs_t
Definition: definitions.hh:61
curves::bezier_curve< double, double, true, point_t > bezier_t
Definition: definitions.hh:52
std::vector< std::pair< double, int > > T_time
Definition: definitions.hh:58
const typedef Eigen::Ref< const Vector6 > & Cref_vector6
Definition: definitions.hh:31
std::pair< Matrix39, point3_t > waypoint9_t
Definition: definitions.hh:51
centroidal_dynamics::Vector3 Vector3
Definition: definitions.hh:21
std::pair< matrix3_t, point3_t > waypoint3_t
Definition: definitions.hh:50
curves::bezier_curve< double, double, true, waypoint_t > bezier_wp_t
Definition: definitions.hh:55
Eigen::Vector3d point_t
Definition: definitions.hh:41
const typedef Eigen::Ref< const point_t > & point_t_tC
Definition: definitions.hh:42
Eigen::Matrix< value_type, 3, 3 > Matrix3
Definition: definitions.hh:16
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > MatrixXX
Definition: definitions.hh:20
Eigen::Ref< MatrixX3 > Ref_matrixX3
Definition: definitions.hh:27
Eigen::Ref< MatrixXX > Ref_matrixXX
Definition: definitions.hh:28
T_time::const_iterator CIT_time
Definition: definitions.hh:59
const typedef Eigen::Ref< const VectorX > & Cref_vectorX
Definition: definitions.hh:32
curves::bezier_curve< double, double, true, point6_t > bezier6_t
Definition: definitions.hh:56
Vector3 point3_t
Definition: definitions.hh:39
Eigen::Matrix< value_type, Eigen::Dynamic, 3 > MatrixX3
Definition: definitions.hh:19
Vector6 point6_t
Definition: definitions.hh:37
const typedef Eigen::Ref< const MatrixXX > & Cref_matrixXX
Definition: definitions.hh:33
Definition: common_solve_methods.hh:16
Eigen::Ref< VectorX > Ref_vectorX
Definition: definitions.hh:26