diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..c2f28d4fe0136d2bd9cc17ae8fdd956f74b32523
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,22 @@
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+# Executables
+*.exe
+*.out
+*.app
+*.user
+build/
+build-rel/
+bin/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e4cfe82d5e8de2f302b1885695640517d0aa1f08..6ed03a9010269df7a9c0371451eae16b881618fe 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,7 +39,7 @@ SET(${PROJECT_NAME}_HEADERS
include/centroidal-dynamics-lib/solver_LP_abstract.hh
include/centroidal-dynamics-lib/solver_LP_qpoases.hh
include/centroidal-dynamics-lib/solver_LP_clp.hh
- include/centroidal-dynamics-lib/static_equilibrium.hh
+ include/centroidal-dynamics-lib/centroidal_dynamics.hh
include/centroidal-dynamics-lib/stop-watch.hh
)
diff --git a/include/centroidal-dynamics-lib/static_equilibrium.hh b/include/centroidal-dynamics-lib/centroidal_dynamics.hh
similarity index 93%
rename from include/centroidal-dynamics-lib/static_equilibrium.hh
rename to include/centroidal-dynamics-lib/centroidal_dynamics.hh
index dcdab414b655d00e5edd46a38cfc9f01ea7a7419..7d423b8aad4ce5f2fd0a299fb28edea343be989b 100644
--- a/include/centroidal-dynamics-lib/static_equilibrium.hh
+++ b/include/centroidal-dynamics-lib/centroidal_dynamics.hh
@@ -3,8 +3,8 @@
* Author: Andrea Del Prete
*/
-#ifndef ROBUST_EQUILIBRIUM_LIB_STATIC_EQUILIBRIUM_H
-#define ROBUST_EQUILIBRIUM_LIB_STATIC_EQUILIBRIUM_H
+#ifndef CENTROIDAL_DYNAMICS_LIB_STATIC_EQUILIBRIUM_H
+#define CENTROIDAL_DYNAMICS_LIB_STATIC_EQUILIBRIUM_H
#include <Eigen/Dense>
#include <centroidal-dynamics-lib/config.hh>
@@ -14,23 +14,23 @@
namespace robust_equilibrium
{
-enum ROBUST_EQUILIBRIUM_DLLAPI StaticEquilibriumAlgorithm
+enum CENTROIDAL_DYNAMICS_DLLAPI EquilibriumAlgorithm
{
- STATIC_EQUILIBRIUM_ALGORITHM_LP, /// primal LP formulation
- STATIC_EQUILIBRIUM_ALGORITHM_LP2, /// another primal LP formulation
- STATIC_EQUILIBRIUM_ALGORITHM_DLP, /// dual LP formulation
- STATIC_EQUILIBRIUM_ALGORITHM_PP, /// polytope projection algorithm
- STATIC_EQUILIBRIUM_ALGORITHM_IP, /// incremental projection algorithm based on primal LP formulation
- STATIC_EQUILIBRIUM_ALGORITHM_DIP /// incremental projection algorithm based on dual LP formulation
+ EQUILIBRIUM_ALGORITHM_LP, /// primal LP formulation
+ EQUILIBRIUM_ALGORITHM_LP2, /// another primal LP formulation
+ EQUILIBRIUM_ALGORITHM_DLP, /// dual LP formulation
+ EQUILIBRIUM_ALGORITHM_PP, /// polytope projection algorithm
+ EQUILIBRIUM_ALGORITHM_IP, /// incremental projection algorithm based on primal LP formulation
+ EQUILIBRIUM_ALGORITHM_DIP /// incremental projection algorithm based on dual LP formulation
};
-class ROBUST_EQUILIBRIUM_DLLAPI StaticEquilibrium
+class CENTROIDAL_DYNAMICS_DLLAPI StaticEquilibrium
{
private:
static bool m_is_cdd_initialized; /// true if cdd lib has been initialized, false otherwise
std::string m_name; /// name of this object
- StaticEquilibriumAlgorithm m_algorithm; /// current algorithm used
+ EquilibriumAlgorithm m_algorithm; /// current algorithm used
Solver_LP_abstract* m_solver; /// LP solver
SolverLP m_solver_type; /// type of LP solver
@@ -46,7 +46,7 @@ private:
VectorX m_h;
/** False if a numerical instability appeared in the computation H and h*/
bool m_is_cdd_stable;
- /** STATIC_EQUILIBRIUM_ALGORITHM_PP: If double description fails,
+ /** EQUILIBRIUM_ALGORITHM_PP: If double description fails,
* indicate the max number of attempts to compute the cone by introducing
* a small pertubation of the system */
const unsigned max_num_cdd_trials;
@@ -115,7 +115,7 @@ public:
*/
std::string getName(){ return m_name; }
- StaticEquilibriumAlgorithm getAlgorithm(){ return m_algorithm; }
+ EquilibriumAlgorithm getAlgorithm(){ return m_algorithm; }
/**
* @brief Specify a new set of contacts.
@@ -128,7 +128,7 @@ public:
* @return True if the operation succeeded, false otherwise.
*/
bool setNewContacts(Cref_matrixX3 contactPoints, Cref_matrixX3 contactNormals,
- double frictionCoefficient, StaticEquilibriumAlgorithm alg);
+ double frictionCoefficient, EquilibriumAlgorithm alg);
/**
* @brief Compute a measure of the robustness of the equilibrium of the specified com position.
diff --git a/include/centroidal-dynamics-lib/config.hh b/include/centroidal-dynamics-lib/config.hh
index 6f042ad9dc1f43fc9b4147d429f8b587c1ee610f..8d60cbe7113ff543facacccf458d7b649b7d281d 100644
--- a/include/centroidal-dynamics-lib/config.hh
+++ b/include/centroidal-dynamics-lib/config.hh
@@ -3,11 +3,11 @@
* Author: Andrea Del Prete
*/
-#ifndef _ROBUST_EQUILIBRIUM_LIB_CONFIG_HH
-#define _ROBUST_EQUILIBRIUM_LIB_CONFIG_HH
+#ifndef _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
+#define _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
// Package version (header).
-# define ROBUST_EQUILIBRIUM_VERSION "UNKNOWN"
+# define CENTROIDAL_DYNAMICS_VERSION "UNKNOWN"
// Handle portable symbol export.
// Defining manually which symbol should be exported is required
@@ -21,37 +21,37 @@
// is handled by the compiler, see: http://gcc.gnu.org/wiki/Visibility
# if defined _WIN32 || defined __CYGWIN__
// On Microsoft Windows, use dllimport and dllexport to tag symbols.
-# define ROBUST_EQUILIBRIUM_DLLIMPORT __declspec(dllimport)
-# define ROBUST_EQUILIBRIUM_DLLEXPORT __declspec(dllexport)
-# define ROBUST_EQUILIBRIUM_DLLLOCAL
+# define CENTROIDAL_DYNAMICS_DLLIMPORT __declspec(dllimport)
+# define CENTROIDAL_DYNAMICS_DLLEXPORT __declspec(dllexport)
+# define CENTROIDAL_DYNAMICS_DLLLOCAL
# else
// On Linux, for GCC >= 4, tag symbols using GCC extension.
# if __GNUC__ >= 4
-# define ROBUST_EQUILIBRIUM_DLLIMPORT __attribute__ ((visibility("default")))
-# define ROBUST_EQUILIBRIUM_DLLEXPORT __attribute__ ((visibility("default")))
-# define ROBUST_EQUILIBRIUM_DLLLOCAL __attribute__ ((visibility("hidden")))
+# define CENTROIDAL_DYNAMICS_DLLIMPORT __attribute__ ((visibility("default")))
+# define CENTROIDAL_DYNAMICS_DLLEXPORT __attribute__ ((visibility("default")))
+# define CENTROIDAL_DYNAMICS_DLLLOCAL __attribute__ ((visibility("hidden")))
# else
// Otherwise (GCC < 4 or another compiler is used), export everything.
-# define ROBUST_EQUILIBRIUM_DLLIMPORT
-# define ROBUST_EQUILIBRIUM_DLLEXPORT
-# define ROBUST_EQUILIBRIUM_DLLLOCAL
+# define CENTROIDAL_DYNAMICS_DLLIMPORT
+# define CENTROIDAL_DYNAMICS_DLLEXPORT
+# define CENTROIDAL_DYNAMICS_DLLLOCAL
# endif // __GNUC__ >= 4
# endif // defined _WIN32 || defined __CYGWIN__
-# ifdef ROBUST_EQUILIBRIUM_STATIC
+# ifdef CENTROIDAL_DYNAMICS_STATIC
// If one is using the library statically, get rid of
// extra information.
-# define ROBUST_EQUILIBRIUM_DLLAPI
-# define ROBUST_EQUILIBRIUM_LOCAL
+# define CENTROIDAL_DYNAMICS_DLLAPI
+# define CENTROIDAL_DYNAMICS_LOCAL
# else
// Depending on whether one is building or using the
// library define DLLAPI to import or export.
-# ifdef ROBUST_EQUILIBRIUM_EXPORTS
-# define ROBUST_EQUILIBRIUM_DLLAPI ROBUST_EQUILIBRIUM_DLLEXPORT
+# ifdef CENTROIDAL_DYNAMICS_EXPORTS
+# define CENTROIDAL_DYNAMICS_DLLAPI CENTROIDAL_DYNAMICS_DLLEXPORT
# else
-# define ROBUST_EQUILIBRIUM_DLLAPI ROBUST_EQUILIBRIUM_DLLIMPORT
-# endif // ROBUST_EQUILIBRIUM_EXPORTS
-# define ROBUST_EQUILIBRIUM_LOCAL ROBUST_EQUILIBRIUM_DLLLOCAL
-# endif // ROBUST_EQUILIBRIUM_STATIC
+# define CENTROIDAL_DYNAMICS_DLLAPI CENTROIDAL_DYNAMICS_DLLIMPORT
+# endif // CENTROIDAL_DYNAMICS_EXPORTS
+# define CENTROIDAL_DYNAMICS_LOCAL CENTROIDAL_DYNAMICS_DLLLOCAL
+# endif // CENTROIDAL_DYNAMICS_STATIC
-#endif //_ROBUST_EQUILIBRIUM_LIB_CONFIG_HH
+#endif //_CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
diff --git a/include/centroidal-dynamics-lib/logger.hh b/include/centroidal-dynamics-lib/logger.hh
index c83ac52efa7cd956e2140aad5ec293f9aa06285a..9015d1511acbbac1af9728776d24590bd29ee7f4 100644
--- a/include/centroidal-dynamics-lib/logger.hh
+++ b/include/centroidal-dynamics-lib/logger.hh
@@ -73,7 +73,7 @@ namespace robust_equilibrium
/** Enum representing the different kind of messages.
*/
- enum ROBUST_EQUILIBRIUM_DLLAPI MsgType
+ enum CENTROIDAL_DYNAMICS_DLLAPI MsgType
{
MSG_TYPE_DEBUG =0,
MSG_TYPE_INFO =1,
@@ -113,7 +113,7 @@ namespace robust_equilibrium
return ss.str();
}
- enum ROBUST_EQUILIBRIUM_DLLAPI LoggerVerbosity
+ enum CENTROIDAL_DYNAMICS_DLLAPI LoggerVerbosity
{
VERBOSITY_ALL,
VERBOSITY_INFO_WARNING_ERROR,
@@ -124,7 +124,7 @@ namespace robust_equilibrium
/** A simple class for logging messages
*/
- class ROBUST_EQUILIBRIUM_DLLAPI Logger
+ class CENTROIDAL_DYNAMICS_DLLAPI Logger
{
public:
diff --git a/include/centroidal-dynamics-lib/solver_LP_abstract.hh b/include/centroidal-dynamics-lib/solver_LP_abstract.hh
index b28cbd44b4adfec58a4dfe25fa4a8231c66d7c15..43ccb2906b6cc420e755c625fffd8c1414579350 100644
--- a/include/centroidal-dynamics-lib/solver_LP_abstract.hh
+++ b/include/centroidal-dynamics-lib/solver_LP_abstract.hh
@@ -3,8 +3,8 @@
* Author: Andrea Del Prete
*/
-#ifndef ROBUST_EQUILIBRIUM_LIB_SOLVER_LP_ABSTRACT_HH
-#define ROBUST_EQUILIBRIUM_LIB_SOLVER_LP_ABSTRACT_HH
+#ifndef CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_ABSTRACT_HH
+#define CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_ABSTRACT_HH
#include <Eigen/Dense>
#include <centroidal-dynamics-lib/config.hh>
@@ -16,7 +16,7 @@ namespace robust_equilibrium
/**
* Available LP solvers.
*/
-enum ROBUST_EQUILIBRIUM_DLLAPI SolverLP
+enum CENTROIDAL_DYNAMICS_DLLAPI SolverLP
{
SOLVER_LP_QPOASES = 0
#ifdef CLP_FOUND
@@ -28,7 +28,7 @@ enum ROBUST_EQUILIBRIUM_DLLAPI SolverLP
/**
* Possible states of an LP solver.
*/
-enum ROBUST_EQUILIBRIUM_DLLAPI LP_status
+enum CENTROIDAL_DYNAMICS_DLLAPI LP_status
{
LP_STATUS_UNKNOWN=-1,
LP_STATUS_OPTIMAL=0,
@@ -42,7 +42,7 @@ enum ROBUST_EQUILIBRIUM_DLLAPI LP_status
/**
* @brief Abstract interface for a Linear Program (LP) solver.
*/
-class ROBUST_EQUILIBRIUM_DLLAPI Solver_LP_abstract
+class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_abstract
{
protected:
bool m_useWarmStart; // true if the solver is allowed to warm start
@@ -149,4 +149,4 @@ public:
} // end namespace robust_equilibrium
-#endif //ROBUST_EQUILIBRIUM_LIB_SOLVER_LP_ABSTRACT_HH
+#endif //CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_ABSTRACT_HH
diff --git a/include/centroidal-dynamics-lib/solver_LP_clp.hh b/include/centroidal-dynamics-lib/solver_LP_clp.hh
index a4729ce38e569d8fdf74952fc07af1daa7a82fd5..6d0c2ee518abce52411ddc9abe52f84074d11041 100644
--- a/include/centroidal-dynamics-lib/solver_LP_clp.hh
+++ b/include/centroidal-dynamics-lib/solver_LP_clp.hh
@@ -5,8 +5,8 @@
#ifdef CLP_FOUND
-#ifndef ROBUST_EQUILIBRIUM_LIB_SOLVER_LP_CLP_HH
-#define ROBUST_EQUILIBRIUM_LIB_SOLVER_LP_CLP_HH
+#ifndef CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_CLP_HH
+#define CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_CLP_HH
#include <centroidal-dynamics-lib/config.hh>
#include <centroidal-dynamics-lib/util.hh>
@@ -16,7 +16,7 @@
namespace robust_equilibrium
{
-class ROBUST_EQUILIBRIUM_DLLAPI Solver_LP_clp: public Solver_LP_abstract
+class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_clp: public Solver_LP_abstract
{
private:
ClpSimplex m_model;
@@ -52,6 +52,6 @@ public:
} // end namespace robust_equilibrium
-#endif //ROBUST_EQUILIBRIUM_LIB_SOLVER_LP_CLP_HH
+#endif //CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_CLP_HH
#endif // CLP_FOUND
diff --git a/include/centroidal-dynamics-lib/solver_LP_qpoases.hh b/include/centroidal-dynamics-lib/solver_LP_qpoases.hh
index 5b46c702568e687e66021bcf4ce4a9c82488246a..62bd5e927c258ae59d4cb1eb2829f235dd8f47cf 100644
--- a/include/centroidal-dynamics-lib/solver_LP_qpoases.hh
+++ b/include/centroidal-dynamics-lib/solver_LP_qpoases.hh
@@ -3,8 +3,8 @@
* Author: Andrea Del Prete
*/
-#ifndef ROBUST_EQUILIBRIUM_LIB_SOLVER_QPOASES_HH
-#define ROBUST_EQUILIBRIUM_LIB_SOLVER_QPOASES_HH
+#ifndef CENTROIDAL_DYNAMICS_LIB_SOLVER_QPOASES_HH
+#define CENTROIDAL_DYNAMICS_LIB_SOLVER_QPOASES_HH
#include <centroidal-dynamics-lib/config.hh>
#include <centroidal-dynamics-lib/util.hh>
@@ -14,7 +14,7 @@
namespace robust_equilibrium
{
-class ROBUST_EQUILIBRIUM_DLLAPI Solver_LP_qpoases: public Solver_LP_abstract
+class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_qpoases: public Solver_LP_abstract
{
private:
qpOASES::Options m_options; // solver options
@@ -49,4 +49,4 @@ public:
} // end namespace robust_equilibrium
-#endif //ROBUST_EQUILIBRIUM_LIB_SOLVER_QPOASES_HH
+#endif //CENTROIDAL_DYNAMICS_LIB_SOLVER_QPOASES_HH
diff --git a/include/centroidal-dynamics-lib/util.hh b/include/centroidal-dynamics-lib/util.hh
index d73532565f3818f53108030202dabc0cfa85bb67..43ea2449b28bcf0c61d52641169556aba961c0ca 100644
--- a/include/centroidal-dynamics-lib/util.hh
+++ b/include/centroidal-dynamics-lib/util.hh
@@ -2,8 +2,8 @@
* Copyright 2015, LAAS-CNRS
* Author: Andrea Del Prete
*/
-#ifndef _ROBUST_EQUILIBRIUM_LIB_UTIL_HH
-#define _ROBUST_EQUILIBRIUM_LIB_UTIL_HH
+#ifndef _CENTROIDAL_DYNAMICS_LIB_UTIL_HH
+#define _CENTROIDAL_DYNAMICS_LIB_UTIL_HH
#include <iostream>
#include <fstream>
@@ -131,4 +131,4 @@ namespace robust_equilibrium
} //namespace robust_equilibrium
-#endif //_ROBUST_EQUILIBRIUM_LIB_UTIL_HH
+#endif //_CENTROIDAL_DYNAMICS_LIB_UTIL_HH
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index e06587b3b46bb6879362d0c2e15d4f1ac033b5c8..ac902edb63f84efb93937c9fbced9c920b5d21ab 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -19,8 +19,8 @@ SET(${LIBRARY_NAME}_SOURCES
${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_abstract.hh
${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_qpoases.hh
${INCLUDE_DIR}/centroidal-dynamics-lib/solver_LP_clp.hh
- ${INCLUDE_DIR}/centroidal-dynamics-lib/static_equilibrium.hh
- static_equilibrium.cpp
+ ${INCLUDE_DIR}/centroidal-dynamics-lib/centroidal_dynamics.hh
+ centroidal_dynamics.cpp
solver_LP_abstract.cpp
solver_LP_qpoases.cpp
solver_LP_clp.cpp
diff --git a/src/static_equilibrium.cpp b/src/centroidal_dynamics.cpp
similarity index 97%
rename from src/static_equilibrium.cpp
rename to src/centroidal_dynamics.cpp
index 6787847652b7bc3223a12a34414f791757435fbe..9cc69b25b28cfbe075d4fa2097d54ce4b5938396 100644
--- a/src/static_equilibrium.cpp
+++ b/src/centroidal_dynamics.cpp
@@ -3,7 +3,7 @@
* Author: Andrea Del Prete
*/
-#include <centroidal-dynamics-lib/static_equilibrium.hh>
+#include <centroidal-dynamics-lib/centroidal_dynamics.hh>
#include <centroidal-dynamics-lib/logger.hh>
#include <centroidal-dynamics-lib/stop-watch.hh>
#include <iostream>
@@ -130,16 +130,16 @@ bool StaticEquilibrium::computeGenerators(Cref_matrixX3 contactPoints, Cref_matr
}
bool StaticEquilibrium::setNewContacts(Cref_matrixX3 contactPoints, Cref_matrixX3 contactNormals,
- double frictionCoefficient, StaticEquilibriumAlgorithm alg)
+ double frictionCoefficient, EquilibriumAlgorithm alg)
{
assert(contactPoints.rows()==contactNormals.rows());
- if(alg==STATIC_EQUILIBRIUM_ALGORITHM_IP)
+ if(alg==EQUILIBRIUM_ALGORITHM_IP)
{
SEND_ERROR_MSG("Algorithm IP not implemented yet");
return false;
}
- if(alg==STATIC_EQUILIBRIUM_ALGORITHM_DIP)
+ if(alg==EQUILIBRIUM_ALGORITHM_DIP)
{
SEND_ERROR_MSG("Algorithm DIP not implemented yet");
return false;
@@ -155,7 +155,7 @@ bool StaticEquilibrium::setNewContacts(Cref_matrixX3 contactPoints, Cref_matrixX
return false;
}
- if(m_algorithm==STATIC_EQUILIBRIUM_ALGORITHM_PP)
+ if(m_algorithm==EQUILIBRIUM_ALGORITHM_PP)
{
unsigned int attempts = max_num_cdd_trials;
while(!computePolytopeProjection(m_G_centr) && attempts>0)
@@ -181,7 +181,7 @@ LP_status StaticEquilibrium::computeEquilibriumRobustness(Cref_vector3 com, doub
if(m==0)
return LP_STATUS_INFEASIBLE;
- if(m_algorithm==STATIC_EQUILIBRIUM_ALGORITHM_LP)
+ if(m_algorithm==EQUILIBRIUM_ALGORITHM_LP)
{
/* Compute the robustness measure of the equilibrium of a specified CoM position
* by solving the following LP:
@@ -220,7 +220,7 @@ LP_status StaticEquilibrium::computeEquilibriumRobustness(Cref_vector3 com, doub
return lpStatus;
}
- if(m_algorithm==STATIC_EQUILIBRIUM_ALGORITHM_LP2)
+ if(m_algorithm==EQUILIBRIUM_ALGORITHM_LP2)
{
/* Compute the robustness measure of the equilibrium of a specified CoM position
* by solving the following LP:
@@ -257,7 +257,7 @@ LP_status StaticEquilibrium::computeEquilibriumRobustness(Cref_vector3 com, doub
return lpStatus_primal;
}
- if(m_algorithm==STATIC_EQUILIBRIUM_ALGORITHM_DLP)
+ if(m_algorithm==EQUILIBRIUM_ALGORITHM_DLP)
{
/*Compute the robustness measure of the equilibrium of a specified CoM position
by solving the following dual LP:
@@ -336,7 +336,7 @@ LP_status StaticEquilibrium::checkRobustEquilibrium(Cref_vector3 com, bool &equi
SEND_ERROR_MSG("checkRobustEquilibrium with e_max!=0 not implemented yet");
return LP_STATUS_ERROR;
}
- if(m_algorithm!=STATIC_EQUILIBRIUM_ALGORITHM_PP)
+ if(m_algorithm!=EQUILIBRIUM_ALGORITHM_PP)
{
SEND_ERROR_MSG("checkRobustEquilibrium is only implemented for the PP algorithm");
return LP_STATUS_ERROR;
@@ -357,7 +357,7 @@ LP_status StaticEquilibrium::checkRobustEquilibrium(Cref_vector3 com, bool &equi
LP_status StaticEquilibrium::getPolytopeInequalities(MatrixXX& H, VectorX& h) const
{
- if(m_algorithm!=STATIC_EQUILIBRIUM_ALGORITHM_PP)
+ if(m_algorithm!=EQUILIBRIUM_ALGORITHM_PP)
{
SEND_ERROR_MSG("getPolytopeInequalities is only implemented for the PP algorithm");
return LP_STATUS_ERROR;
@@ -384,7 +384,7 @@ LP_status StaticEquilibrium::findExtremumOverLine(Cref_vector3 a, Cref_vector3 a
double b0 = convert_emax_to_b0(e_max);
- if(m_algorithm==STATIC_EQUILIBRIUM_ALGORITHM_LP)
+ if(m_algorithm==EQUILIBRIUM_ALGORITHM_LP)
{
/* Compute the extremum CoM position over the line a*p + a0 that is in robust equilibrium
* by solving the following LP:
@@ -436,7 +436,7 @@ LP_status StaticEquilibrium::findExtremumOverLine(Cref_vector3 a, Cref_vector3 a
return lpStatus_primal;
}
- if(m_algorithm==STATIC_EQUILIBRIUM_ALGORITHM_DLP)
+ if(m_algorithm==EQUILIBRIUM_ALGORITHM_DLP)
{
/* Compute the extremum CoM position over the line a*x + a0 that is in robust equilibrium
* by solving the following dual LP:
diff --git a/src/util.cpp b/src/util.cpp
index e10ac96cd06d0f9bb0842f1e31cfc1ee5a8914e4..243fd2be170df522fd3c494c945e06a1a883923a 100644
--- a/src/util.cpp
+++ b/src/util.cpp
@@ -3,8 +3,8 @@
* Author: Andrea Del Prete
*/
-#ifndef _ROBUST_EQUILIBRIUM_LIB_CONFIG_HH
-#define _ROBUST_EQUILIBRIUM_LIB_CONFIG_HH
+#ifndef _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
+#define _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
#include <centroidal-dynamics-lib/util.hh>
#include <ctime>
@@ -168,4 +168,4 @@ std::string getDateAndTimeAsString()
} //namespace robust_equilibrium
-#endif //_ROBUST_EQUILIBRIUM_LIB_CONFIG_HH
+#endif //_CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
diff --git a/test/test_static_equilibrium.cpp b/test/test_static_equilibrium.cpp
index 7c9055055e7cbe94d13ed065caa2d51a3b8a0831..a25f65d357aedc28855f0e60c077f0208c1f0e3d 100644
--- a/test/test_static_equilibrium.cpp
+++ b/test/test_static_equilibrium.cpp
@@ -5,7 +5,7 @@
#include <vector>
#include <iostream>
-#include <centroidal-dynamics-lib/static_equilibrium.hh>
+#include <centroidal-dynamics-lib/centroidal_dynamics.hh>
#include <centroidal-dynamics-lib/logger.hh>
#include <centroidal-dynamics-lib/stop-watch.hh>
@@ -359,9 +359,9 @@ void testWithLoadedData()
const int N_SOLVERS = 3;
string solverNames[] = {"LP oases", "LP2 oases", "DLP oases"};
- StaticEquilibriumAlgorithm algorithms[] = {STATIC_EQUILIBRIUM_ALGORITHM_LP,
- STATIC_EQUILIBRIUM_ALGORITHM_LP2,
- STATIC_EQUILIBRIUM_ALGORITHM_DLP};
+ EquilibriumAlgorithm algorithms[] = {EQUILIBRIUM_ALGORITHM_LP,
+ EQUILIBRIUM_ALGORITHM_LP2,
+ EQUILIBRIUM_ALGORITHM_DLP};
MatrixXX contactPoints, contactNormals;
Vector3 com;
@@ -440,20 +440,20 @@ int main()
const int N_SOLVERS = 6;
string solverNames[] = {"LP oases", "LP2 oases", "DLP oases",
"LP coin", "LP2 coin", "DLP coin"};
- StaticEquilibriumAlgorithm algorithms[] = {STATIC_EQUILIBRIUM_ALGORITHM_LP,
- STATIC_EQUILIBRIUM_ALGORITHM_LP2,
- STATIC_EQUILIBRIUM_ALGORITHM_DLP,
- STATIC_EQUILIBRIUM_ALGORITHM_LP,
- STATIC_EQUILIBRIUM_ALGORITHM_LP2,
- STATIC_EQUILIBRIUM_ALGORITHM_DLP};
+ EquilibriumAlgorithm algorithms[] = {EQUILIBRIUM_ALGORITHM_LP,
+ EQUILIBRIUM_ALGORITHM_LP2,
+ EQUILIBRIUM_ALGORITHM_DLP,
+ EQUILIBRIUM_ALGORITHM_LP,
+ EQUILIBRIUM_ALGORITHM_LP2,
+ EQUILIBRIUM_ALGORITHM_DLP};
SolverLP lp_solver_types[] = {SOLVER_LP_QPOASES, SOLVER_LP_QPOASES, SOLVER_LP_QPOASES,
SOLVER_LP_CLP, SOLVER_LP_CLP, SOLVER_LP_CLP};
#else
const int N_SOLVERS = 3;
string solverNames[] = {"LP oases", "LP2 oases", "DLP oases"};
- StaticEquilibriumAlgorithm algorithms[] = {STATIC_EQUILIBRIUM_ALGORITHM_LP,
- STATIC_EQUILIBRIUM_ALGORITHM_LP2,
- STATIC_EQUILIBRIUM_ALGORITHM_DLP};
+ EquilibriumAlgorithm algorithms[] = {EQUILIBRIUM_ALGORITHM_LP,
+ EQUILIBRIUM_ALGORITHM_LP2,
+ EQUILIBRIUM_ALGORITHM_DLP};
SolverLP lp_solver_types[] = {SOLVER_LP_QPOASES, SOLVER_LP_QPOASES, SOLVER_LP_QPOASES};
#endif
@@ -487,7 +487,7 @@ int main()
getProfiler().stop(PERF_LP_PREPARATION);
}
getProfiler().start(PERF_PP);
- if(!solver_PP->setNewContacts(p, N, mu, STATIC_EQUILIBRIUM_ALGORITHM_PP))
+ if(!solver_PP->setNewContacts(p, N, mu, EQUILIBRIUM_ALGORITHM_PP))
{
SEND_ERROR_MSG("Error while setting new contacts for solver "+solver_PP->getName());
return -1;
@@ -544,7 +544,7 @@ int main()
string test_name2 = "Compute equilibrium robustness ";
for(int s=1; s<N_SOLVERS; s++)
{
- if(solvers[s]->getAlgorithm()!=STATIC_EQUILIBRIUM_ALGORITHM_LP2)
+ if(solvers[s]->getAlgorithm()!=EQUILIBRIUM_ALGORITHM_LP2)
test_findExtremumOverLine(solvers[s], solvers[0], a0, N_TESTS_EXTREMUM, e_max, test_name+solvers[s]->getName(),
test_name2+solvers[0]->getName(), 1);
}