BipedalLocomotion::Math namespace

Classes

class CARE: Computes the unique stabilizing solution S to the continuous-time algebraic equation.
class ContactWrenchCone: ContactWrenchCone computes the polyhedral approximation of the contact wrench friction cone.
class LinearizedFrictionCone: LinearizedFrictionCone computes the polyhedral approximation of the friction cone.
class QuadraticBezierCurve: QuadraticBezierCurve implements a quadratic Bézier curve.
struct SchmittTriggerOutput
struct SchmittTriggerInput: SchmittTriggerState contains the input of the SchmittTrigger class.
struct SchmittTriggerState: SchmittTriggerState contains the internal state of the trigger,.
class SchmittTrigger: SchmittTrigger implements a discrete version of a SchmittTrigger See here for further details.
template<class Scalar> class Wrench: Wrench represent a wrench, i.e.

template<class Scalar> auto operator*(const manif::SE3<Scalar>& transform, const Wrench<Scalar>& wrench) -> Wrench<Scalar>: Change the frame in which the Wrench is expressed.
template<class Scalar> auto operator*(const manif::SO3<Scalar>& rotation, const Wrench<Scalar>& wrench) -> Wrench<Scalar>: Change the frame in which the Wrench is expressed.

double StandardAccelerationOfGravitation constexpr: The standard acceleration due to gravity (or standard acceleration of free fall), sometimes abbreviated as standard gravity, is the nominal gravitational acceleration of an object in a vacuum near the surface of the Earth.
double AbsoluteEqualityDoubleTolerance constexpr: The Absolute tolerance used to consider two double equal.