47 :
public ::dynamicgraph::Entity {
48 DYNAMIC_GRAPH_ENTITY_DECL();
51 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
64 virtual void display(std::ostream& os)
const;
71 DDPSolver<double, 2, 1>::commandVec_t
m_u;
85 void param_init(
const double& timestep,
const int& T,
const int& nbItMax,
86 const double& stopCriteria);
89 void setTorqueLimit(
const double& tau);
90 void setJointLimit(
const double& upperLim,
const double& lowerLim);
91 void setJointVelLimit(
const double& upperLim,
const double& lowerLim);
94 void setLoadParam(
const double& mass,
const double& coordX,
95 const double& coordY);
96 void setLoadMass(
const double& mass);
100 void setCostGainState(
const dynamicgraph::Vector& Q);
101 void setCostGainStateConstraint(
const dynamicgraph::Vector& W);
102 void setCostGainCommand(
const dynamicgraph::Vector& R);
103 void setCostGainTorqueConstraint(
const dynamicgraph::Vector& P);