CentroidalMPC.h file
Namespaces
- namespace BipedalLocomotion
- namespace BipedalLocomotion::ReducedModelControllers
Classes
- struct BipedalLocomotion::ReducedModelControllers::CentroidalMPCOutput
- CentroidalMPCOutput contains the output of the CentroidalMPC class.
- class BipedalLocomotion::ReducedModelControllers::CentroidalMPC
- CentroidalMPC implements a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities.