solve.hh File Reference

#include <Eigen/Dense>
#include <hpp/bezier-com-traj/data.hh>
#include <hpp/bezier-com-traj/local_config.hh>

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Namespaces
namespace	bezier_com_traj

Functions
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj	bezier_com_traj::solve0step (const ProblemData &pData, const std::vector< double > &Ts, const double timeStep=-1)
	solve0step Tries to solve the 0-step capturability problem. Given the current contact phase, a COM position, and an initial velocity, tries to compute a feasible COM trajectory that stops the character without falling. In this specific implementation, the considered constraints are: init position and velocity, 0 velocity constraints (acceleration constraints are ignored)
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
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