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745f11a9

Commit 745f11a9 authored 13 years ago by Jory Lafaye

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Add the computation of initial solution wich respect all the constraints

note : used in LSSOL (QLD don't support this)

parent 847438b1

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Changes 6

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src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp 8 additions, 2 deletions

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp 72 additions, 0 deletions

src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh 11 additions, 0 deletions

src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh
src/ZMPRefTrajectoryGeneration/qp-problem.cpp 52 additions, 39 deletions

src/ZMPRefTrajectoryGeneration/qp-problem.cpp
src/ZMPRefTrajectoryGeneration/qp-problem.hh 4 additions, 4 deletions

src/ZMPRefTrajectoryGeneration/qp-problem.hh
src/privatepgtypes.h 4 additions, 0 deletions

src/privatepgtypes.h

with 151 additions and 45 deletions

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