data.hh File Reference

#include <ndcurves/bezier_curve.h>
#include <Eigen/Dense>
#include <hpp/bezier-com-traj/definitions.hh>
#include <hpp/bezier-com-traj/flags.hh>
#include <hpp/bezier-com-traj/local_config.hh>
#include <hpp/bezier-com-traj/solver/solver-abstract.hpp>
#include <hpp/bezier-com-traj/utils.hh>
#include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
#include <vector>

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Classes
struct	bezier_com_traj::ContactData
	Contact data contains all the contact information relative to a contact phase: contact points and normals (within Equilibrium object), as well as any additional kinematic and angular constraints. More...
struct	bezier_com_traj::Constraints
	Used to define the constraints on the trajectory generation problem. Flags are used to constrain initial and terminal com positions an derivatives. Additionally, the maximum acceleration can be bounded. More...
struct	bezier_com_traj::ProblemData
	Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost functions. Also,a list of ContactData defines the different phases of the problem. While the method can handle any phase greater than one, using more than three phases is probably too constraining. More...
struct	bezier_com_traj::ResultDataCOMTraj
	Specialized ResultData that computes the Bezier curves corresponding to the computed trajectory. More...

Namespaces
namespace	bezier_com_traj

Typedefs
typedef solvers::ResultData	bezier_com_traj::ResultData