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 $\mathbb{R} ^n$ .
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).
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 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 CubicSpline = Math::CubicSpline<Eigen::VectorXd>
CubicSpline implements a cubic spline.
using QuinticSpline = Math::QuinticSpline<Eigen::VectorXd>
QuinticSpline implements a quintic spline.
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.
using SplineState = Math::TrajectoryPoint<Eigen::VectorXd>
SplineState implements the state of the spline.
using Spline = Math::Spline<Eigen::VectorXd>
Spline implements a basic spline.