static-stability-constraint.hh File Reference

#include <hpp/wholebody-step/fwd.hh>
#include <hpp/wholebody-step/config.hh>
#include <hpp/wholebody-step/deprecated.hh>

Include dependency graph for static-stability-constraint.hh:

Namespaces
	hpp
	Copyright (c) 2014 CNRS Authors: Florent Lamiraux.
	hpp::wholebodyStep

Typedefs
typedef constraints::Implicit	hpp::wholebodyStep::Implicit
typedef constraints::ImplicitPtr_t	hpp::wholebodyStep::ImplicitPtr_t

Functions
std::vector< ImplicitPtr_t >	hpp::wholebodyStep::createSlidingStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration) HPP_WHOLEBODY_STEP_DEPRECATED
	Create quasi-static stability constraints. More...
std::vector< ImplicitPtr_t >	hpp::wholebodyStep::createSlidingStabilityConstraint (const DevicePtr_t &robot, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration) HPP_WHOLEBODY_STEP_DEPRECATED
	Create quasi-static stability constraints The center of mass takes into account all the joints of the robot. More...
std::vector< ImplicitPtr_t >	hpp::wholebodyStep::createSlidingStabilityConstraintComplement (const DevicePtr_t &robot, const JointPtr_t &leftAnkle, ConfigurationIn_t configuration)
	Create quasi-static stability complementary constraints. More...
std::vector< ImplicitPtr_t >	hpp::wholebodyStep::createAlignedCOMStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration, bool sliding=true)
	Constraints that ensure that the COM is between the two ankles. More...
std::vector< ImplicitPtr_t >	hpp::wholebodyStep::createStaticStabilityConstraint (const DevicePtr_t &robot, const CenterOfMassComputationPtr_t &comc, const JointPtr_t &leftAnkle, const JointPtr_t &rightAnkle, ConfigurationIn_t configuration, bool sliding)
	Create quasi-static stability constraints. More...

Variables
const std::string	hpp::wholebodyStep::STABILITY_CONTEXT