Klamp't  0.9.0
ZMP.h
1 #ifndef KLAMPT_PLANNING_ZMP_H
2 #define KLAMPT_PLANNING_ZMP_H
3
4 #include <Klampt/Modeling/Robot.h>
5 #include <Klampt/Modeling/Paths.h>
6 #include <KrisLibrary/planning/GeneralizedBezierCurve.h>
7 class NewtonEulerSolver;
8
9 namespace Klampt {
10
13 void GetCOMDerivs(RobotModel& robot,const Config& q,const Vector& dq,const Vector& ddq,Vector3& cm,Vector3& dcm,Vector3& ddcm,NewtonEulerSolver& ne);
14
17 void GetCOMDerivs(RobotModel& robot,const Config& q,const Vector& dq,const Vector& ddq,Vector3& cm,Vector3& dcm,Vector3& ddcm);
18
21 Vector2 GetZMP(RobotModel& robot,const Config& q,const Vector& dq,const Vector& ddq,NewtonEulerSolver& ne,Real groundHeight=0,Real g=9.8);
22
25 Vector2 GetZMP(RobotModel& robot,const Config& q,const Vector& dq,const Vector& ddq,Real groundHeight=0,Real g=9.8);
26
28 std::vector<Vector2> GetZMPTrajectory(RobotModel& robot,const GeneralizedCubicBezierCurve& path,Real dt,Real groundHeight=0,Real g=9.8);
29
31 std::vector<Vector2> GetZMPTrajectory(RobotModel& robot,const Spline::PiecewisePolynomialND& path,Real dt,Real groundHeight=0,Real g=9.8);
32
33 } //namespace Klampt
34
35 #endif
Definition: ContactDistance.h:6