sobec::OCP Class Reference

#include <sobec/walk-with-traj/ocp.hpp>

Public Member Functions
	OCP ()
	OCP (const OCPSettings &settings, const ModelMakerSettings &model_settings, const RobotDesignerSettings &design, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0)
void	initialize (const OCPSettings &settings, const ModelMakerSettings &model_settings, const RobotDesignerSettings &design, const Eigen::VectorXd &q0, const Eigen::VectorXd &v0)
void	updateEndPhase ()
void	updateOCP (const Eigen::VectorXd &qc, const Eigen::VectorXd &vc)
HorizonManager	get_horizon ()
eVector3	get_LF_position ()
eVector3	get_RF_position ()
eVector3	get_com_position ()

Constructor & Destructor Documentation

OCP() [1/2]

sobec::OCP::OCP

(

)

OCP() [2/2]

sobec::OCP::OCP	(	const OCPSettings &	settings,
		const ModelMakerSettings &	model_settings,
		const RobotDesignerSettings &	design,
		const Eigen::VectorXd &	q0,
		const Eigen::VectorXd &	v0
	)

Member Function Documentation

get_com_position()

eVector3 sobec::OCP::get_com_position ( )

inline

get_horizon()

HorizonManager sobec::OCP::get_horizon ( )

inline

get_LF_position()

eVector3 sobec::OCP::get_LF_position ( )

inline

get_RF_position()

eVector3 sobec::OCP::get_RF_position ( )

inline

initialize()

void sobec::OCP::initialize	(	const OCPSettings &	settings,
		const ModelMakerSettings &	model_settings,
		const RobotDesignerSettings &	design,
		const Eigen::VectorXd &	q0,
		const Eigen::VectorXd &	v0
	)

updateEndPhase()

void sobec::OCP::updateEndPhase

(

)

updateOCP()

void sobec::OCP::updateOCP	(	const Eigen::VectorXd &	qc,
		const Eigen::VectorXd &	vc
	)

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The documentation for this class was generated from the following files:

• include/sobec/walk-with-traj/ocp.hpp
• src/walk-with-traj/ocp.cpp