ZMP.h File Reference
#include <rbdyn/config.hh>#include <SpaceVecAlg/SpaceVecAlg>
Include dependency graph for ZMP.h:
Go to the source code of this file.
Namespaces | |
| rbd | |
Functions | |
| RBDYN_DLLAPI Eigen::Vector3d | rbd::computeCentroidalZMP (MultiBodyConfig &mbc, Eigen::Vector3d &com, Eigen::Vector3d &comA, double altitude) |
| Eigen::Vector3d | rbd::computeCentroidalZMPNoGravity (Eigen::Vector3d &com, Eigen::Vector3d &comA, double altitude) |
| Compute the ZMP in the world frame considering that gravity is taken into account in the CoM acceleration. More... | |
| Eigen::Vector3d | rbd::computeCentroidalZMPComplete (MultiBodyConfig &mbc, Eigen::Vector3d &com, Eigen::Vector3d &comA, double altitude, sva::ForceVecd wr_external, double mass) |
| Compute the ZMP considering the external wrench applied on the robot the gravity should also be already in the CoM acceleration. More... | |
