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_LIB_SOLVE_H
7 #define BEZIER_COM_TRAJ_LIB_SOLVE_H
11 #include <Eigen/Dense>
26 const double timeStep = -1);
38 const unsigned int pointsPerPhase = 3);
53 const double timeStep = -1,
54 const solvers::SolverType solver = solvers::SOLVER_QUADPROG);
#define BEZIER_COM_TRAJ_DLLAPI
Definition: local_config.hh:52
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
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:23
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
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
Definition: common_solve_methods.hh:16