#include <hpp/pinocchio/device.hh>
#include <hpp/rbprm/rbprm-state.hh>
#include <hpp/rbprm/rbprm-fullbody.hh>
#include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
#include <map>
#include <memory>
Go to the source code of this file.
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double | hpp::rbprm::stability::IsStable (const RbPrmFullBodyPtr_t fullbody, State &state, fcl::Vec3f acc=fcl::Vec3f(0, 0, 0), fcl::Vec3f com=fcl::Vec3f(0, 0, 0), const centroidal_dynamics::EquilibriumAlgorithm=centroidal_dynamics::EQUILIBRIUM_ALGORITHM_DLP) |
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std::pair< MatrixXX, VectorX > | hpp::rbprm::stability::ComputeCentroidalCone (const RbPrmFullBodyPtr_t fullbody, State &state, const core::value_type friction=0.5) |
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centroidal_dynamics::Equilibrium | hpp::rbprm::stability::initLibrary (const RbPrmFullBodyPtr_t fullbody) |
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centroidal_dynamics::Vector3 | hpp::rbprm::stability::setupLibrary (const RbPrmFullBodyPtr_t fullbody, State &state, centroidal_dynamics::Equilibrium &sEq, centroidal_dynamics::EquilibriumAlgorithm &alg, core::value_type friction=0.6, const double feetX=0, const double feetY=0) throw (std::runtime_error) |
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