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| bezier_wp_t::t_point_t | bezier_com_traj::computeDiscretizedWwaypoints (const ProblemData &pData, double T, const T_time &timeArray) |
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| std::pair< MatrixXX, VectorX > | bezier_com_traj::dynamicStabilityConstraints_cross (const MatrixXX &mH, const VectorX &h, const Vector3 &g, const coefs_t &c, const coefs_t &ddc) |
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| std::pair< MatrixXX, VectorX > | bezier_com_traj::dynamicStabilityConstraints (const MatrixXX &mH, const VectorX &h, const Vector3 &g, const waypoint_t &w) |
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| std::vector< int > | bezier_com_traj::stepIdPerPhase (const T_time &timeArray) |
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| long int | bezier_com_traj::computeNumIneq (const ProblemData &pData, const VectorX &Ts, const std::vector< int > &phaseSwitch) |
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| void | bezier_com_traj::updateH (const ProblemData &pData, const ContactData &phase, MatrixXX &mH, VectorX &h, int &dimH) |
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| void | bezier_com_traj::assignStabilityConstraintsForTimeStep (MatrixXX &mH, VectorX &h, const waypoint_t &wp_w, const int dimH, long int &id_rows, MatrixXX &A, VectorX &b, const Vector3 &g) |
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| void | bezier_com_traj::assignStabilityConstraintsForTimeStepForce (const waypoint_t &wp_w, const long int rowIdx, long int &id_cols, const centroidal_dynamics::Matrix6X mG, MatrixXX &D, VectorX &d, const double mass, const Vector3 &g) |
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| void | bezier_com_traj::switchContactPhase (const ProblemData &pData, MatrixXX &A, VectorX &b, MatrixXX &mH, VectorX &h, const waypoint_t &wp_w, const ContactData &phase, long int &id_rows, int &dimH) |
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| long int | bezier_com_traj::assignStabilityConstraints (const ProblemData &pData, MatrixXX &A, VectorX &b, const T_time &timeArray, const double t_total, const std::vector< int > &stepIdForPhase) |
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| void | bezier_com_traj::assignKinematicConstraints (const ProblemData &pData, MatrixXX &A, VectorX &b, const T_time &timeArray, const double t_total, const std::vector< int > &stepIdForPhase, long int &id_rows) |
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| void | bezier_com_traj::assignAccelerationConstraints (const ProblemData &pData, MatrixXX &A, VectorX &b, const T_time &timeArray, const double t_total, long int &id_rows) |
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| std::pair< MatrixXX, VectorX > | bezier_com_traj::computeConstraintsOneStep (const ProblemData &pData, const VectorX &Ts, const double t_total, const T_time &timeArray) |
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| void | bezier_com_traj::computeFinalAcceleration (ResultDataCOMTraj &res) |
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| void | bezier_com_traj::computeFinalVelocity (ResultDataCOMTraj &res) |
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| std::pair< MatrixXX, VectorX > | bezier_com_traj::genCostFunction (const ProblemData &pData, const VectorX &Ts, const double T, const T_time &timeArray, const long int &dim) |
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| ResultDataCOMTraj | bezier_com_traj::genTraj (ResultData resQp, const ProblemData &pData, const double T) |
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| long int | bezier_com_traj::computeNumIneqContinuous (const ProblemData &pData, const VectorX &Ts, const int degree, const int w_degree, const bool useDD) |
| | computeNumIneqContinuous compute the number of inequalitie required by all the phases
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| long int | bezier_com_traj::computeNumEqContinuous (const ProblemData &pData, const int w_degree, const bool useForce, long int &forceVarDim) |
| | computeNumEqContinuous compute the number of equalities required by all the phases
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| std::pair< MatrixXX, VectorX > | bezier_com_traj::computeConstraintsContinuous (const ProblemData &pData, const VectorX &Ts, std::pair< MatrixXX, VectorX > &Dd, VectorX &minBounds, VectorX &) |
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| BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj | bezier_com_traj::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, an initial and final com position and velocity, try to compute the CoM trajectory (as a Bezier curve) that connect them
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| BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj | bezier_com_traj::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, an initial and final com position and velocity, try to compute the CoM trajectory (as a Bezier curve) that connect them
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