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| BEZIER_COM_TRAJ_DLLAPI std::vector< waypoint6_t > | bezier_com_traj::ComputeDiscretizedWaypoints (const std::vector< waypoint6_t > &wps, const std::vector< ndcurves::Bern< double > > &bernstein, int numSteps) |
| | ComputeDiscretizedWaypoints Given the waypoints defining a bezier curve, computes a discretization of the curve.
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| MatrixXX | bezier_com_traj::initMatrixA (const int dimH, const std::vector< waypoint6_t > &wps, const long int extraConstraintSize, const bool useAngMomentum) |
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| MatrixXX | bezier_com_traj::initMatrixD (const int colG, const std::vector< waypoint6_t > &wps, const long int extraConstraintSize, const bool useAngMomentum) |
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| void | bezier_com_traj::addKinematic (Ref_matrixXX A, Ref_vectorX b, Cref_matrixX3 Kin, Cref_vectorX kin, const long int otherConstraintIndex) |
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| void | bezier_com_traj::addAngularMomentum (Ref_matrixXX A, Ref_vectorX b, Cref_matrixX3 Ang, Cref_vectorX ang) |
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| int | bezier_com_traj::removeZeroRows (Ref_matrixXX &A, Ref_vectorX &b) |
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| int | bezier_com_traj::Normalize (Ref_matrixXX A, Ref_vectorX b) |
| | normalize inequality constraints
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| BEZIER_COM_TRAJ_DLLAPI std::pair< MatrixXX, VectorX > | bezier_com_traj::compute6dControlPointInequalities (const ContactData &cData, const std::vector< waypoint6_t > &wps, const std::vector< waypoint6_t > &wpL, const bool useAngMomentum, bool &fail) |
| | compute6dControlPointInequalities Given linear and angular control waypoints, compute the inequality matrices A and b, A x <= b that constrain the desired control point x.
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| ResultData | bezier_com_traj::solve (Cref_matrixXX A, Cref_vectorX ci0, Cref_matrixXX D, Cref_vectorX d, Cref_matrixXX H, Cref_vectorX g, Cref_vectorX initGuess, Cref_vectorX minBounds, Cref_vectorX maxBounds, const solvers::SolverType solver) |
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| ResultData | bezier_com_traj::solve (Cref_matrixXX A, Cref_vectorX b, Cref_matrixXX H, Cref_vectorX g, Cref_vectorX initGuess, const solvers::SolverType solver) |
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| BEZIER_COM_TRAJ_DLLAPI ResultData | bezier_com_traj::solve (const std::pair< MatrixXX, VectorX > &Ab, const std::pair< MatrixXX, VectorX > &Hg, const VectorX &init, const solvers::SolverType solver=solvers::SOLVER_QUADPROG) |
| | solve x' h x + 2 g' x, subject to A*x <= b using quadprog, with x of fixed dimension 3
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| BEZIER_COM_TRAJ_DLLAPI ResultData | bezier_com_traj::solve (const std::pair< MatrixXX, VectorX > &Ab, const std::pair< MatrixXX, VectorX > &Dd, const std::pair< MatrixXX, VectorX > &Hg, Cref_vectorX minBounds, Cref_vectorX maxBounds, const VectorX &init, const solvers::SolverType solver=solvers::SOLVER_QUADPROG) |
| | solve x' h x + 2 g' x, subject to A*x <= b and D*x = c using quadprog, with x of fixed dimension 3
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