1 #ifndef KLAMPT_PLANNING_ZMP_H 2 #define KLAMPT_PLANNING_ZMP_H 4 #include <Klampt/Modeling/Robot.h> 5 #include <Klampt/Modeling/Paths.h> 6 #include <KrisLibrary/planning/GeneralizedBezierCurve.h> 7 class NewtonEulerSolver;
13 void GetCOMDerivs(RobotModel& robot,
const Config& q,
const Vector& dq,
const Vector& ddq,Vector3& cm,Vector3& dcm,Vector3& ddcm,NewtonEulerSolver& ne);
17 void GetCOMDerivs(RobotModel& robot,
const Config& q,
const Vector& dq,
const Vector& ddq,Vector3& cm,Vector3& dcm,Vector3& ddcm);
21 Vector2 GetZMP(RobotModel& robot,
const Config& q,
const Vector& dq,
const Vector& ddq,NewtonEulerSolver& ne,Real groundHeight=0,Real g=9.8);
25 Vector2 GetZMP(RobotModel& robot,
const Config& q,
const Vector& dq,
const Vector& ddq,Real groundHeight=0,Real g=9.8);
28 std::vector<Vector2> GetZMPTrajectory(RobotModel& robot,
const GeneralizedCubicBezierCurve& path,Real dt,Real groundHeight=0,Real g=9.8);
31 std::vector<Vector2> GetZMPTrajectory(RobotModel& robot,
const Spline::PiecewisePolynomialND& path,Real dt,Real groundHeight=0,Real g=9.8);
Definition: ContactDistance.h:6