BipedalLocomotion/Planners/SO3Planner.h file

Namespaces

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.

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