mc_tasks::lipm_stabilizer Namespace Reference

Namespaces
	internal

Classes
struct	ContactDescription
struct	StabilizerTask
struct	ZMPCC

Typedefs
using	HrepXd = std::pair< Eigen::MatrixXd, Eigen::VectorXd >
using	ContactDescriptionVector = std::vector< ContactDescription, Eigen::aligned_allocator< ContactDescription > >
using	ZMPCCConfiguration = mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration
using	StabilizerConfiguration = mc_rbdyn::lipm_stabilizer::StabilizerConfiguration
using	FDQPWeights = mc_rbdyn::lipm_stabilizer::FDQPWeights
using	SafetyThresholds = mc_rbdyn::lipm_stabilizer::SafetyThresholds
using	DCMBiasEstimatorConfiguration = mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration
using	ExternalWrenchConfiguration = mc_rbdyn::lipm_stabilizer::ExternalWrenchConfiguration

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

Typedef Documentation

ContactDescriptionVector

using mc_tasks::lipm_stabilizer::ContactDescriptionVector = typedef std::vector<ContactDescription, Eigen::aligned_allocator<ContactDescription> >

DCMBiasEstimatorConfiguration

using mc_tasks::lipm_stabilizer::DCMBiasEstimatorConfiguration = typedef mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration

ExternalWrenchConfiguration

using mc_tasks::lipm_stabilizer::ExternalWrenchConfiguration = typedef mc_rbdyn::lipm_stabilizer::ExternalWrenchConfiguration

FDQPWeights

using mc_tasks::lipm_stabilizer::FDQPWeights = typedef mc_rbdyn::lipm_stabilizer::FDQPWeights

HrepXd

using mc_tasks::lipm_stabilizer::HrepXd = typedef std::pair<Eigen::MatrixXd, Eigen::VectorXd>

SafetyThresholds

using mc_tasks::lipm_stabilizer::SafetyThresholds = typedef mc_rbdyn::lipm_stabilizer::SafetyThresholds

StabilizerConfiguration

using mc_tasks::lipm_stabilizer::StabilizerConfiguration = typedef mc_rbdyn::lipm_stabilizer::StabilizerConfiguration

ZMPCCConfiguration

using mc_tasks::lipm_stabilizer::ZMPCCConfiguration = typedef mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration

Function Documentation

StabilizerTask::computeExternalWrenchSum<&StabilizerTask::ExternalWrench::measured >()

template sva::ForceVecd mc_tasks::lipm_stabilizer::StabilizerTask::computeExternalWrenchSum<&StabilizerTask::ExternalWrench::measured >	(	const mc_rbdyn::Robot &	,
		const Eigen::Vector3d &
	)		const

StabilizerTask::computeExternalWrenchSum<&StabilizerTask::ExternalWrench::target >()

template sva::ForceVecd mc_tasks::lipm_stabilizer::StabilizerTask::computeExternalWrenchSum<&StabilizerTask::ExternalWrench::target >	(	const mc_rbdyn::Robot &	,
		const Eigen::Vector3d &
	)		const

StabilizerTask::computeWrenchOffsetAndCoefficient<&StabilizerTask::ExternalWrench::measured >()

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

StabilizerTask::computeWrenchOffsetAndCoefficient<&StabilizerTask::ExternalWrench::target >()

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