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Humanoid Path Planner
hpp-centroidal-dynamics
Commits
8106fdc0
Commit
8106fdc0
authored
6 years ago
by
t steve
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parent
2c0f317a
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include/centroidal-dynamics-lib/centroidal_dynamics.hh
+4
-1
4 additions, 1 deletion
include/centroidal-dynamics-lib/centroidal_dynamics.hh
src/centroidal_dynamics.cpp
+24
-0
24 additions, 0 deletions
src/centroidal_dynamics.cpp
with
28 additions
and
1 deletion
include/centroidal-dynamics-lib/centroidal_dynamics.hh
+
4
−
1
View file @
8106fdc0
...
...
@@ -35,8 +35,8 @@ private:
std
::
string
m_name
;
/// name of this object
EquilibriumAlgorithm
m_algorithm
;
/// current algorithm used
Solver_LP_abstract
*
m_solver
;
/// LP solver
SolverLP
m_solver_type
;
/// type of LP solver
Solver_LP_abstract
*
m_solver
;
/// LP solver
unsigned
int
m_generatorsPerContact
;
/// number of generators to approximate the friction cone per contact point
...
...
@@ -99,6 +99,9 @@ public:
const
SolverLP
solver_type
=
SOLVER_LP_QPOASES
,
bool
useWarmStart
=
true
,
const
unsigned
int
max_num_cdd_trials
=
0
,
const
bool
canonicalize_cdd_matrix
=
false
);
Equilibrium
(
const
Equilibrium
&
other
);
/**
* @brief Returns the useWarmStart flag.
* @return True if the LP solver is allowed to use warm start, false otherwise.
...
...
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src/centroidal_dynamics.cpp
+
24
−
0
View file @
8106fdc0
...
...
@@ -17,6 +17,30 @@ namespace centroidal_dynamics
bool
Equilibrium
::
m_is_cdd_initialized
=
false
;
Equilibrium
::
Equilibrium
(
const
Equilibrium
&
other
)
:
m_mass
(
other
.
m_mass
)
,
m_gravity
(
other
.
m_gravity
)
,
m_name
(
other
.
m_name
)
,
m_algorithm
(
other
.
m_algorithm
)
,
m_solver_type
(
other
.
m_solver_type
)
,
m_solver
(
Solver_LP_abstract
::
getNewSolver
(
other
.
m_solver_type
))
,
m_generatorsPerContact
(
other
.
m_generatorsPerContact
)
,
m_G_centr
(
other
.
m_G_centr
)
,
m_H
(
other
.
m_H
)
,
m_h
(
other
.
m_h
)
,
m_is_cdd_stable
(
other
.
m_is_cdd_stable
)
,
max_num_cdd_trials
(
other
.
max_num_cdd_trials
)
,
canonicalize_cdd_matrix
(
other
.
canonicalize_cdd_matrix
)
,
m_HD
(
other
.
m_HD
)
,
m_Hd
(
other
.
m_Hd
)
,
m_D
(
other
.
m_D
)
,
m_d
(
other
.
m_d
)
,
m_b0_to_emax_coefficient
(
other
.
m_b0_to_emax_coefficient
)
{
m_solver
->
setUseWarmStart
(
other
.
m_solver
->
getUseWarmStart
());
}
Equilibrium
::
Equilibrium
(
const
string
&
name
,
const
double
mass
,
const
unsigned
int
generatorsPerContact
,
const
SolverLP
solver_type
,
const
bool
useWarmStart
,
const
unsigned
int
max_num_cdd_trials
,
const
bool
canonicalize_cdd_matrix
)
...
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