#include "drake/common/drake_assert.h"
#include "drake/common/drake_copyable.h"
#include "drake/common/trajectories/exponential_plus_piecewise_polynomial.h"
#include "drake/common/trajectories/piecewise_polynomial.h"

Include dependency graph for zmp_planner.h:

Classes
class	ZmpPlanner
	Given a desired two dimensional (X and Y) zero-moment point (ZMP) trajectory parameterized as a piecewise polynomial, an optimal center of mass (CoM) trajectory is planned using a linear inverted pendulum model (LIPM). More...

Namespaces
namespace	drake
namespace	drake::planning

Classes

Namespaces