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_DATA_H
7 #define BEZIER_COM_TRAJ_LIB_DATA_H
13 #include <hpp/bezier-com-traj/solver/solver-abstract.hpp>
14 #include <curves/bezier_curve.h>
15 #include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
16 #include <Eigen/Dense>
30 Kin_(Eigen::Matrix3d::Zero()),
32 Ang_(Eigen::Matrix3d::Zero()),
36 : contactPhase_(new centroidal_dynamics::Equilibrium(*(other.contactPhase_))),
43 : contactPhase_(contactPhase),
44 Kin_(Eigen::Matrix3d::Zero()),
46 Ang_(Eigen::Matrix3d::Zero()),
65 constraintAcceleration_(false),
66 maxAcceleration_(10.),
70 : flag_(flag), constraintAcceleration_(false), maxAcceleration_(10.), reduce_h_(1e-3) {}
98 useAngularMomentum_(false),
GIWCRepresentation representation_
Definition: data.hh:108
point_t ddc1_
Definition: data.hh:129
bool constraintAcceleration_
Definition: data.hh:75
#define BEZIER_COM_TRAJ_DLLAPI
Definition: local_config.hh:52
Constraints()
Definition: data.hh:63
Used to define the constraints on the trajectory generation problem. Flags are used to constrain init...
Definition: data.hh:62
~ResultDataCOMTraj()
Definition: data.hh:124
ACCELERATION
Definition: flags.hh:13
point_t j1_
Definition: data.hh:103
double reduce_h_
Definition: data.hh:77
point_t dc1_
Definition: data.hh:128
~Constraints()
Definition: data.hh:72
bezier_t dL_of_t_
Definition: data.hh:127
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:23
curves::bezier_curve< double, double, true, point_t > bezier_t
Definition: definitions.hh:52
Specialized ResultData that computes the Bezier curves corresponding to the computed trajectory.
Definition: data.hh:117
ConstraintFlag flag_
Definition: data.hh:74
bool useAngularMomentum_
Definition: data.hh:105
END_POS
Definition: flags.hh:23
Eigen::Vector3d point_t
Definition: definitions.hh:41
CostFunction costFunction_
Definition: data.hh:107
solvers::ResultData ResultData
Definition: data.hh:111
INIT_VEL
Definition: flags.hh:21
ProblemData()
Definition: data.hh:89
ResultDataCOMTraj()
Definition: data.hh:118
Constraints(ConstraintFlag flag)
Definition: data.hh:69
double maxAcceleration_
Definition: data.hh:76
Eigen::Matrix< value_type, Eigen::Dynamic, 3 > MatrixX3
Definition: definitions.hh:19
point_t l0_
Definition: data.hh:104
Constraints constraints_
Definition: data.hh:106
DOUBLE_DESCRIPTION
Definition: flags.hh:37
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
std::vector< ContactData > contacts_
Definition: data.hh:102
END_VEL
Definition: flags.hh:24
INIT_POS
Definition: flags.hh:20
bezier_t c_of_t_
Definition: data.hh:126