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