Drake
QPLocomotionPlan Class Reference

#include <drake/systems/robotInterfaces/QPLocomotionPlan.h>

Public Member Functions

 QPLocomotionPlan (RigidBodyTree< double > &robot, const QPLocomotionPlanSettings &settings, const std::string &lcm_channel)
 
template<typename DerivedQ , typename DerivedV >
drake::lcmt_qp_controller_input createQPControllerInput (double t_global, const Eigen::MatrixBase< DerivedQ > &q, const Eigen::MatrixBase< DerivedV > &v, const std::vector< bool > &contact_force_detected)
 
void setDuration (double duration)
 
void setStartTime (double start_time)
 
double getStartTime () const
 
double getDuration () const
 
bool isFinished (double t) const
 
drake::lcmt_qp_controller_input getLastQPInput () const
 
const RigidBodyTree< double > & getRobot () const
 
template<typename DerivedQ , typename DerivedV >
drake::lcmt_qp_controller_input createQPControllerInput (double t_global, const MatrixBase< DerivedQ > &q, const MatrixBase< DerivedV > &v, const std::vector< bool > &contact_force_detected)
 

Constructor & Destructor Documentation

◆ QPLocomotionPlan()

QPLocomotionPlan ( RigidBodyTree< double > &  robot,
const QPLocomotionPlanSettings settings,
const std::string &  lcm_channel 
)

Member Function Documentation

◆ createQPControllerInput() [1/2]

drake::lcmt_qp_controller_input createQPControllerInput ( double  t_global,
const MatrixBase< DerivedQ > &  q,
const MatrixBase< DerivedV > &  v,
const std::vector< bool > &  contact_force_detected 
)

◆ createQPControllerInput() [2/2]

drake::lcmt_qp_controller_input createQPControllerInput ( double  t_global,
const Eigen::MatrixBase< DerivedQ > &  q,
const Eigen::MatrixBase< DerivedV > &  v,
const std::vector< bool > &  contact_force_detected 
)

◆ getDuration()

double getDuration ( ) const

◆ getLastQPInput()

drake::lcmt_qp_controller_input getLastQPInput ( ) const

◆ getRobot()

const RigidBodyTree< double > & getRobot ( ) const

◆ getStartTime()

double getStartTime ( ) const

◆ isFinished()

bool isFinished ( double  t) const

◆ setDuration()

void setDuration ( double  duration)

◆ setStartTime()

void setStartTime ( double  start_time)

The documentation for this class was generated from the following files: