bezier_com_traj::ProblemData Struct Reference

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...

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

Collaboration diagram for bezier_com_traj::ProblemData:

Public Member Functions
	ProblemData ()

Public Attributes
std::vector< ContactData >	contacts_
point_t	c0_
point_t	dc0_
point_t	ddc0_
point_t	j0_
point_t	c1_
point_t	dc1_
point_t	ddc1_
point_t	j1_
point_t	l0_
bool	useAngularMomentum_
Constraints	constraints_
CostFunction	costFunction_
GIWCRepresentation	representation_

Detailed Description

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.

Constructor & Destructor Documentation

ProblemData()

bezier_com_traj::ProblemData::ProblemData ( )

inline

Member Data Documentation

c0_

point_t bezier_com_traj::ProblemData::c0_

c1_

point_t bezier_com_traj::ProblemData::c1_

constraints_

Constraints bezier_com_traj::ProblemData::constraints_

contacts_

std::vector<ContactData> bezier_com_traj::ProblemData::contacts_

costFunction_

CostFunction bezier_com_traj::ProblemData::costFunction_

dc0_

point_t bezier_com_traj::ProblemData::dc0_

dc1_

point_t bezier_com_traj::ProblemData::dc1_

ddc0_

point_t bezier_com_traj::ProblemData::ddc0_

ddc1_

point_t bezier_com_traj::ProblemData::ddc1_

j0_

point_t bezier_com_traj::ProblemData::j0_

j1_

point_t bezier_com_traj::ProblemData::j1_

l0_

point_t bezier_com_traj::ProblemData::l0_

representation_

GIWCRepresentation bezier_com_traj::ProblemData::representation_

useAngularMomentum_

bool bezier_com_traj::ProblemData::useAngularMomentum_

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The documentation for this struct was generated from the following file:

• include/hpp/bezier-com-traj/data.hh