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0ef801e4

Commit 0ef801e4 authored 8 years ago by mnaveau

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add constraints to the nmpc solver to use planned foot steps.

parent 3287620b

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src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp 244 additions, 95 deletions

src/ZMPRefTrajectoryGeneration/nmpc_generator.cpp
src/ZMPRefTrajectoryGeneration/nmpc_generator.hh 24 additions, 5 deletions

src/ZMPRefTrajectoryGeneration/nmpc_generator.hh
tests/TestNaveau2015.cpp 2 additions, 2 deletions

tests/TestNaveau2015.cpp
tests/TestObject.hh 5 additions, 0 deletions

tests/TestObject.hh

with 275 additions and 102 deletions

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