aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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Contact map for centroidal costs and dynamics. More...
#include <aligator/modelling/contact-map.hpp>
Public Types | |
using | Scalar = _Scalar |
using | PoseVec = StdVectorEigenAligned<Vector3s> |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
ContactMapTpl (const std::vector< bool > &contact_states, const PoseVec &contact_poses) | |
void | addContact (const bool state, const Vector3s &pose) |
void | removeContact (const size_t i) |
const std::vector< bool > & | getContactStates () const |
bool | getContactState (const std::size_t i) const |
const PoseVec & | getContactPoses () const |
const Vector3s & | getContactPose (const std::size_t i) const |
std::size_t | getSize () const |
Contact map for centroidal costs and dynamics.
Definition at line 8 of file contact-map.hpp.
using aligator::ContactMapTpl< _Scalar >::Scalar = _Scalar |
Definition at line 9 of file contact-map.hpp.
using aligator::ContactMapTpl< _Scalar >::PoseVec = StdVectorEigenAligned<Vector3s> |
Definition at line 11 of file contact-map.hpp.
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Definition at line 13 of file contact-map.hpp.
aligator::ContactMapTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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Definition at line 25 of file contact-map.hpp.
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Definition at line 31 of file contact-map.hpp.
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Definition at line 41 of file contact-map.hpp.
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Definition at line 43 of file contact-map.hpp.
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Definition at line 45 of file contact-map.hpp.
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Definition at line 47 of file contact-map.hpp.
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Definition at line 51 of file contact-map.hpp.