Collaboration diagram for QPLocomotionPlanSettings:

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Public Types
typedef std::map< std::string, Eigen::Matrix3Xd >	ContactNameToContactPointsMap

Public Member Functions
	QPLocomotionPlanSettings ()

void	addSupport (const RigidBodySupportState &support_state, const ContactNameToContactPointsMap &contact_group_name_to_contact_points, double duration)

Static Public Member Functions
static KneeSettings	createDefaultKneeSettings ()

static std::vector< int >	findPositionIndices (RigidBodyTree &robot, const std::vector< std::string > &joint_name_substrings)

Public Attributes
double	duration

std::vector< RigidBodySupportState >	supports

std::vector< double >	support_times

std::vector< ContactNameToContactPointsMap >	contact_groups

std::vector< bool >	planned_support_command

double	early_contact_allowed_fraction

std::vector< BodyMotionData >	body_motions

PiecewisePolynomial< double >	zmp_trajectory

TVLQRData	zmp_data

Eigen::MatrixXd	D_control

QuadraticLyapunovFunction	V

PiecewisePolynomial< double >	q_traj

ExponentialPlusPiecewisePolynomial< double >	com_traj

std::string	gain_set

double	mu

bool	use_plan_shift

std::vector< Eigen::Index >	plan_shift_body_motion_indices

double	g

double	min_foot_shift_delay

bool	is_quasistatic

KneeSettings	knee_settings

double	ankle_limits_tolerance

std::string	pelvis_name

std::map< Side, std::string >	foot_names

std::map< Side, std::string >	knee_names

std::map< Side, std::string >	aky_names

std::map< Side, std::string >	akx_names

double	zmp_safety_margin

std::vector< int >	constrained_position_indices

std::vector< int >	untracked_position_indices

Member Typedef Documentation

typedef std::map<std::string, Eigen::Matrix3Xd> ContactNameToContactPointsMap

Constructor & Destructor Documentation

QPLocomotionPlanSettings ( )

inline

void addSupport	(	const RigidBodySupportState &	support_state,
		const ContactNameToContactPointsMap &	contact_group_name_to_contact_points,
		double	duration
	)