StabilizerTask.h File Reference

#include <mc_filter/ExponentialMovingAverage.h>
#include <mc_filter/LeakyIntegrator.h>
#include <mc_filter/LowPass.h>
#include <mc_filter/LowPassCompose.h>
#include <mc_filter/StationaryOffset.h>
#include <mc_rbdyn/lipm_stabilizer/StabilizerConfiguration.h>
#include <mc_rtc/deprecated.h>
#include <mc_tasks/CoMTask.h>
#include <mc_tasks/CoPTask.h>
#include <mc_tasks/MetaTask.h>
#include <mc_tasks/OrientationTask.h>
#include <mc_tasks/lipm_stabilizer/Contact.h>
#include <mc_tasks/lipm_stabilizer/ZMPCC.h>
#include <state-observation/dynamics-estimators/lipm-dcm-estimator.hpp>
#include <Eigen/QR>
#include <eigen-quadprog/QuadProg.h>

Include dependency graph for StabilizerTask.h:

Go to the source code of this file.

Classes
struct	mc_tasks::lipm_stabilizer::StabilizerTask
struct	mc_tasks::lipm_stabilizer::StabilizerTask::ExternalWrench
	External wrench. More...
struct	mc_tasks::lipm_stabilizer::StabilizerTask::EnumClassHash
	Workaround a C++11 standard bug: no specialization of the hash functor exists for enum types. Fixed in GCC 6.1 and clang's libc++ in 2013. More...

Namespaces
	mc_tasks
	mc_tasks::lipm_stabilizer

Typedefs
using	mc_tasks::lipm_stabilizer::ZMPCCConfiguration = mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration
using	mc_tasks::lipm_stabilizer::StabilizerConfiguration = mc_rbdyn::lipm_stabilizer::StabilizerConfiguration
using	mc_tasks::lipm_stabilizer::FDQPWeights = mc_rbdyn::lipm_stabilizer::FDQPWeights
using	mc_tasks::lipm_stabilizer::SafetyThresholds = mc_rbdyn::lipm_stabilizer::SafetyThresholds
using	mc_tasks::lipm_stabilizer::DCMBiasEstimatorConfiguration = mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration
using	mc_tasks::lipm_stabilizer::ExternalWrenchConfiguration = mc_rbdyn::lipm_stabilizer::ExternalWrenchConfiguration

Functions
template void	mc_tasks::lipm_stabilizer::StabilizerTask::computeWrenchOffsetAndCoefficient<&StabilizerTask::ExternalWrench::target > (const mc_rbdyn::Robot &robot, Eigen::Vector3d &offset_gamma, double &coef_kappa) const
template void	mc_tasks::lipm_stabilizer::StabilizerTask::computeWrenchOffsetAndCoefficient<&StabilizerTask::ExternalWrench::measured > (const mc_rbdyn::Robot &robot, Eigen::Vector3d &offset_gamma, double &coef_kappa) const
template sva::ForceVecd	mc_tasks::lipm_stabilizer::StabilizerTask::computeExternalWrenchSum<&StabilizerTask::ExternalWrench::target > (const mc_rbdyn::Robot &, const Eigen::Vector3d &) const
template sva::ForceVecd	mc_tasks::lipm_stabilizer::StabilizerTask::computeExternalWrenchSum<&StabilizerTask::ExternalWrench::measured > (const mc_rbdyn::Robot &, const Eigen::Vector3d &) const