file
SO3Planner.hNamespaces
- namespace BipedalLocomotion
- namespace BipedalLocomotion::Planners
Classes
- struct BipedalLocomotion::Planners::SO3PlannerState
- SO3PlannerState contains the state of the planner.
-
template<LieGroupTrivialization trivialization>class BipedalLocomotion::Planners::SO3Planner
- SO3Planner implements a minimum jerk trajectory planner for object belonging to SO(3).
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.