BipedalLocomotion::Planners namespace

Namespaces

namespace UnicycleUtilities

Classes

class ConvexHullHelper

ConvexHullHelper is an helper class that simplifies the building of a convex hull given a set of points that belongs to .

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 UnicycleTrajectoryGeneratorInput

struct UnicycleTrajectoryGeneratorOutput

struct UnicycleTrajectoryGeneratorParameters

class UnicycleTrajectoryGenerator

UnicycleTrajectoryGenerator is a class that generates reference trajectories for humanoid robots.

struct UnicycleTrajectoryPlannerInput

struct UnicycleTrajectoryPlannerOutput

struct UnicycleTrajectoryPlannerParameters

class UnicycleTrajectoryPlanner

UnicycleTrajectoryPlanner is a class that uses UnicycleGenerator of https://github.com/robotology/unicycle-footstep-planner) to generate reference trajectories for humanoid robots.

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.