constructQPLocomotionPlanmex.cpp File Reference

#include "drake/common/drake_assert.h"
#include "drake/math/quaternion.h"
#include "drake/util/drakeUtil.h"
#include "drake/util/drakeMexUtil.h"
#include "drake/systems/robotInterfaces/QPLocomotionPlan.h"

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Functions
PiecewisePolynomial< double >	matlabPPFormToPiecewisePolynomial (const mxArray *pp)
PiecewisePolynomial< double >	matlabPPTrajectoryOrMatrixToPiecewisePolynomial (const mxArray *array)
PiecewisePolynomial< double >	matlabCoefsAndBreaksToPiecewisePolynomial (const mxArray *mex_coefs, const mxArray *mex_breaks, bool flip_last_dimension)
ExponentialPlusPiecewisePolynomial< double >	matlabExpPlusPPToExponentialPlusPiecewisePolynomial (const mxArray *array)
ExponentialPlusPiecewisePolynomial< double >	matlabExpPlusPPOrPPTrajectoryOrVectorToExponentialPlusPiecewisePolynomial (const mxArray *array)
std::vector< RigidBodySupportState >	setUpSupports (const mxArray *mex_supports)
std::vector< QPLocomotionPlanSettings::ContactNameToContactPointsMap >	setUpContactGroups (RigidBodyTree *robot, const mxArray *mex_contact_groups)
std::vector< BodyMotionData >	setUpBodyMotions (const mxArray *mex_body_motions)
TVLQRData	setUpZMPData (const mxArray *mex_zmp_data)
QuadraticLyapunovFunction	setUpLyapunovFunction (const mxArray *mex_V)
void	mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])

Function Documentation

PiecewisePolynomial<double> matlabCoefsAndBreaksToPiecewisePolynomial	(	const mxArray *	mex_coefs,
		const mxArray *	mex_breaks,
		bool	flip_last_dimension
	)

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ExponentialPlusPiecewisePolynomial<double> matlabExpPlusPPOrPPTrajectoryOrVectorToExponentialPlusPiecewisePolynomial

(

const mxArray *

array

)

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ExponentialPlusPiecewisePolynomial<double> matlabExpPlusPPToExponentialPlusPiecewisePolynomial

(

const mxArray *

array

)

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PiecewisePolynomial<double> matlabPPFormToPiecewisePolynomial

(

const mxArray *

pp

)

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PiecewisePolynomial<double> matlabPPTrajectoryOrMatrixToPiecewisePolynomial

(

const mxArray *

array

)

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void mexFunction	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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std::vector<BodyMotionData> setUpBodyMotions

(

const mxArray *

mex_body_motions

)

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std::vector<QPLocomotionPlanSettings::ContactNameToContactPointsMap> setUpContactGroups	(	RigidBodyTree *	robot,
		const mxArray *	mex_contact_groups
	)

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QuadraticLyapunovFunction setUpLyapunovFunction

(

const mxArray *

mex_V

)

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std::vector<RigidBodySupportState> setUpSupports

(

const mxArray *

mex_supports

)

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TVLQRData setUpZMPData

(

const mxArray *

mex_zmp_data

)

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