BipedalLocomotion::Math namespace

Classes

class CARE
Computes the unique stabilizing solution S to the continuous-time algebraic equation.
class ContactWrenchCone
ContactWrenchCone computes the polyhedral approximation of the contact wrench friction cone.
template<typename T>
class CubicSpline
Cubic spline implements a 3-rd order polynomial spline in $\mathbb{R}^n$ .
class LinearizedFrictionCone
LinearizedFrictionCone computes the polyhedral approximation of the friction cone.
template<typename T>
class LinearSpline
LinearSpline implements a 1-st order polynomial spline in $\mathbb{R}^n$ .
class QuadraticBezierCurve
QuadraticBezierCurve implements a quadratic Bézier curve.
template<typename T>
class QuinticSpline
Quintic spline implements a 5-th order polynomial spline in $\mathbb{R}^n$ .
struct SchmittTriggerOutput
struct SchmittTriggerInput
SchmittTriggerState contains the input of the SchmittTrigger class.
struct SchmittTriggerState
SchmittTriggerState contains the internal state of the trigger,.
class SchmittTrigger
SchmittTrigger implements a discrete version of a SchmittTrigger See here for further details.
template<typename T>
struct TrajectoryPoint
TrajectoryPoint is a struct that contains the information of a trajectory point.
template<typename T>
class Spline
Spline implement a basic spline.
template<class Scalar>
class Wrench
Wrench represent a wrench, i.e.
template<typename T>
class ZeroOrderSpline
ZeroOrderSpline implements a 0 order polynomial spline in $\mathbb{R}^n$ .

Typedefs

using Wrenchd = Wrench<double>
A wrench of double.

Functions

template<class Scalar>
auto operator*(const manif::SE3<Scalar>& transform, const Wrench<Scalar>& wrench) -> Wrench<Scalar>
Change the frame in which the Wrench is expressed.
template<class Scalar>
auto operator*(const manif::SO3<Scalar>& rotation, const Wrench<Scalar>& wrench) -> Wrench<Scalar>
Change the frame in which the Wrench is expressed.

Variables

double StandardAccelerationOfGravitation constexpr
The standard acceleration due to gravity (or standard acceleration of free fall), sometimes abbreviated as standard gravity, is the nominal gravitational acceleration of an object in a vacuum near the surface of the Earth.
double AbsoluteEqualityDoubleTolerance constexpr
The Absolute tolerance used to consider two double equal.