BipedalLocomotion::Planners namespace

Classes

class ConvexHullHelper

ConvexHullHelper is an helper class that simplifies the building of a convex hull given a set of points that belongs to .

class CubicSpline

Cubic spline implement a 3-rd order polynomial spline in $f\mathbb{R}^n$f.

struct DCMPlannerState

DCMPlannerState describes the state of the Divergent Component of Motion (DCM) planner.

class DCMPlanner

DCMPlanner defines a trajectory generator for the variable height Divergent component of motion (DCM).

class QuinticSpline

Quintic spline implement a 5-th order polynomial spline in $f\mathbb{R}^n$f.

struct SO3PlannerState

SO3PlannerState contains the state of the planner.

template<LieGroupTrivialization trivialization>

class SO3Planner

SO3Planner implements a minimum jerk trajectory planner for object belonging to SO(3).

struct SplineState

class Spline

spline implement an interface for a Spline in

struct SwingFootPlannerState

SwingFootPlannerState describes the state of Swing foot planner.

class SwingFootPlanner

SwingFootPlanner implement a minimum jerk trajectory planner for the swing foot.

class TimeVaryingDCMPlanner

DCMPlanner defines a trajectory generator for the variable height Divergent component of motion (DCM).

struct UnicycleKnot

struct UnicyclePlannerInput

struct UnicyclePlannerOutput

class UnicyclePlanner

Enums

enum class LieGroupTrivialization { Left, Right }

Trivialization used in the SO3Planner.

Typedefs

using SO3PlannerInertial = SO3Planner<LieGroupTrivialization::Right>

The right trivialization planner generates a velocity and an acceleration expressed in the inertial frame.

using SO3PlannerBody = SO3Planner<LieGroupTrivialization::Left>

The left trivialization planner generates a velocity and an acceleration expressed in the body-fixed frame.