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| waypoint6_t | bezier_com_traj::w0 (point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &p0X, const Matrix3 &, const Matrix3 &, const double alpha) |
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| waypoint6_t | bezier_com_traj::w1 (point_t_tC p0, point_t_tC p1, point_t_tC, const Matrix3 &, const Matrix3 &, const Matrix3 &gX, const double alpha) |
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| waypoint6_t | bezier_com_traj::w2 (point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &, const Matrix3 &, const Matrix3 &gX, const double alpha) |
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| waypoint6_t | bezier_com_traj::w3 (point_t_tC p0, point_t_tC p1, point_t_tC g, const Matrix3 &, const Matrix3 &, const Matrix3 &, const double alpha) |
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| waypoint6_t | bezier_com_traj::w4 (point_t_tC, point_t_tC p1, point_t_tC g, const Matrix3 &, const Matrix3 &, const Matrix3 &, const double alpha) |
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| waypoint6_t | bezier_com_traj::u0 (point_t_tC l0, const double alpha) |
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| waypoint6_t | bezier_com_traj::u1 (point_t_tC l0, const double alpha) |
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| waypoint6_t | bezier_com_traj::u2 (point_t_tC l0, const double alpha) |
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| waypoint6_t | bezier_com_traj::u3 (point_t_tC, const double alpha) |
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| waypoint6_t | bezier_com_traj::u4 (point_t_tC, const double) |
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| int | bezier_com_traj::computeNumSteps (const double T, const double timeStep) |
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| std::vector< waypoint6_t > | bezier_com_traj::ComputeAllWaypoints (point_t_tC p0, point_t_tC dc0, point_t_tC g, const double T, const double timeStep) |
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| std::vector< waypoint6_t > | bezier_com_traj::ComputeAllWaypointsAngularMomentum (point_t_tC l0, const double T, const double timeStep) |
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| std::pair< MatrixXX, VectorX > | bezier_com_traj::compute6dControlPointInequalities (const ContactData &cData, point_t_tC c0, point_t_tC dc0, point_t_tC l0, const bool useAngMomentum, const double T, const double timeStep, bool &fail) |
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| std::pair< MatrixXX, VectorX > | bezier_com_traj::computeCostFunction (point_t_tC p0, point_t_tC l0, const bool useAngMomentum) |
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| void | bezier_com_traj::computeRealCost (const ProblemData &pData, ResultData &resData) |
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| void | bezier_com_traj::computeC_of_T (const ProblemData &pData, const std::vector< double > &Ts, ResultDataCOMTraj &res) |
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| void | bezier_com_traj::computedL_of_T (const ProblemData &pData, const std::vector< double > &Ts, ResultDataCOMTraj &res) |
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| 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)
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