zmpUtil.h File Reference

#include <Eigen/Core>
#include "drake/systems/trajectories/ExponentialPlusPiecewisePolynomial.h"
#include "drake/drakeZMPUtil_export.h"

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Classes
struct	TVLQRData

Functions
DRAKEZMPUTIL_EXPORT ExponentialPlusPiecewisePolynomial< double >	s1Trajectory (const TVLQRData &sys, const PiecewisePolynomial< double > &zmp_trajectory, const Eigen::Ref< const Eigen::MatrixXd > &S)

Function Documentation

DRAKEZMPUTIL_EXPORT ExponentialPlusPiecewisePolynomial<double> s1Trajectory	(	const TVLQRData &	sys,
		const PiecewisePolynomial< double > &	zmp_trajectory,
		const Eigen::Ref< const Eigen::MatrixXd > &	S
	)