zmp_test_util.h File Reference

#include <functional>
#include <vector>
#include "drake/planning/locomotion/zmp_planner.h"

Include dependency graph for zmp_test_util.h:

Classes
struct	ZmpTestTraj
	A structure for storing trajectories from simulating a linear inverted pendulum model (LIPM) using the policy from a ZmpPlanner. More...

Namespaces
	drake
	drake::planning

Functions
ZmpTestTraj	SimulateZmpPolicy (const ZmpPlanner &zmp_planner, const Eigen::Vector4d &x0, double dt, double extra_time_at_the_end)
	Forward simulation using the linear policy from zmp_planner starting from the initial condition x0 using explicit Euler integration. More...
std::vector< trajectories::PiecewisePolynomial< double > >	GenerateDesiredZmpTrajs (const std::vector< Eigen::Vector2d > &footsteps, double double_support_duration, double single_support_duration)
	Generates desired ZMP trajectories as piecewise polynomials given the desired footsteps. More...