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Humanoid Path Planner
hpp-centroidal-dynamics
Commits
e94b7bfa
Commit
e94b7bfa
authored
Apr 24, 2019
by
Guilhem Saurel
Browse files
Merge tag 'v4.5.0'
Release of version 4.5.0.
parents
7bab8a8f
3831320e
Pipeline
#4227
failed with stage
in 4 minutes and 18 seconds
Changes
11
Pipelines
2
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CMakeLists.txt
View file @
e94b7bfa
...
...
@@ -53,7 +53,10 @@ else()
add_definitions
(
-DCLP_FOUND
)
endif
()
INCLUDE_DIRECTORIES
(
${
qpOASES_INCLUDE_DIRS
}
)
IF
(
CLP_FOUND
)
ADD_DEFINITIONS
(
-DCLP_FOUND
)
INCLUDE_DIRECTORIES
(
SYSTEM
"
${
CLP_INCLUDE_DIR
}
"
)
ENDIF
()
ADD_SUBDIRECTORY
(
include/
${
CUSTOM_HEADER_DIR
}
)
...
...
include/hpp/centroidal-dynamics/Stdafx.hh
View file @
e94b7bfa
#ifndef HPP_CENTROIDAL_DYNAMICS_STDAFX_HH
#define HPP_CENTROIDAL_DYNAMICS_STDAFX_HH
/*
Copyright (c) 2010-2013 Tommaso Urli
...
...
@@ -30,3 +33,5 @@ WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#include
<map>
#include
<ctime>
#include
<sstream>
#endif
include/hpp/centroidal-dynamics/centroidal_dynamics.hh
View file @
e94b7bfa
...
...
@@ -3,8 +3,8 @@
* Author: Andrea Del Prete
*/
#ifndef CENTROIDAL_DYNAMICS_
LIB_STATIC_EQUILIBRIUM
_H
#define CENTROIDAL_DYNAMICS_
LIB_STATIC_EQUILIBRIUM
_H
#ifndef
HPP_
CENTROIDAL_DYNAMICS_
CENTROIDAL_DYNAMICS
_H
H
#define
HPP_
CENTROIDAL_DYNAMICS_
CENTROIDAL_DYNAMICS
_H
H
#include
<Eigen/Dense>
#include
<hpp/centroidal-dynamics/local_config.hh>
...
...
include/hpp/centroidal-dynamics/local_config.hh
View file @
e94b7bfa
...
...
@@ -3,8 +3,8 @@
* Author: Andrea Del Prete
*/
#ifndef _CENTROIDAL_DYNAMICS_L
IB
_CONFIG_HH
#define _CENTROIDAL_DYNAMICS_L
IB
_CONFIG_HH
#ifndef
HPP
_CENTROIDAL_DYNAMICS_L
OCAL
_CONFIG_HH
#define
HPP
_CENTROIDAL_DYNAMICS_L
OCAL
_CONFIG_HH
// Package version (header).
# define CENTROIDAL_DYNAMICS_VERSION "UNKNOWN"
...
...
@@ -54,4 +54,4 @@
# define CENTROIDAL_DYNAMICS_LOCAL CENTROIDAL_DYNAMICS_DLLLOCAL
# endif // CENTROIDAL_DYNAMICS_STATIC
#endif //_CENTROIDAL_DYNAMICS_L
IB
_CONFIG_HH
#endif
//
HPP
_CENTROIDAL_DYNAMICS_L
OCAL
_CONFIG_HH
include/hpp/centroidal-dynamics/logger.hh
View file @
e94b7bfa
...
...
@@ -3,8 +3,8 @@
* Author: Andrea Del Prete
*/
#ifndef
__centroidal_dynamics_lib_logger_H__
#define
__centroidal_dynamics_lib_logger_H__
#ifndef
HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
#define
HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
...
...
@@ -185,4 +185,4 @@ namespace centroidal_dynamics
}
// namespace centroidal_dynamics
#endif //
#ifndef __sot_torque_control_trajectory_generators_H__
#endif
//
HPP_CENTROIDAL_DYNAMICS_LOGGER_HH
include/hpp/centroidal-dynamics/solver_LP_abstract.hh
View file @
e94b7bfa
...
...
@@ -3,8 +3,8 @@
* Author: Andrea Del Prete
*/
#ifndef CENTROIDAL_DYNAMICS_
LIB_
SOLVER_LP_ABSTRACT_HH
#define CENTROIDAL_DYNAMICS_
LIB_
SOLVER_LP_ABSTRACT_HH
#ifndef
HPP_
CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
#define
HPP_
CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
#include
<Eigen/Dense>
#include
<hpp/centroidal-dynamics/local_config.hh>
...
...
@@ -149,4 +149,4 @@ public:
}
// end namespace centroidal_dynamics
#endif //CENTROIDAL_DYNAMICS_
LIB_
SOLVER_LP_ABSTRACT_HH
#endif
//
HPP_
CENTROIDAL_DYNAMICS_SOLVER_LP_ABSTRACT_HH
include/hpp/centroidal-dynamics/solver_LP_qpoases.hh
View file @
e94b7bfa
...
...
@@ -3,8 +3,8 @@
* Author: Andrea Del Prete
*/
#ifndef CENTROIDAL_DYNAMICS_
LIB_
SOLVER_QPOASES_HH
#define CENTROIDAL_DYNAMICS_
LIB_
SOLVER_QPOASES_HH
#ifndef
HPP_
CENTROIDAL_DYNAMICS_SOLVER_
LP_
QPOASES_HH
#define
HPP_
CENTROIDAL_DYNAMICS_SOLVER_
LP_
QPOASES_HH
#include
<hpp/centroidal-dynamics/local_config.hh>
#include
<hpp/centroidal-dynamics/util.hh>
...
...
@@ -49,4 +49,4 @@ public:
}
// end namespace centroidal_dynamics
#endif //CENTROIDAL_DYNAMICS_
LIB_
SOLVER_QPOASES_HH
#endif
//
HPP_
CENTROIDAL_DYNAMICS_SOLVER_
LP_
QPOASES_HH
include/hpp/centroidal-dynamics/stop-watch.hh
View file @
e94b7bfa
...
...
@@ -24,9 +24,8 @@ WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#ifndef WBR_STOPWATCH_H
#define WBR_STOPWATCH_H
#ifndef HPP_CENTROIDAL_DYNAMICS_STOP_WATCH_HH
#define HPP_CENTROIDAL_DYNAMICS_STOP_WATCH_HH
#include
"hpp/centroidal-dynamics/Stdafx.hh"
...
...
include/hpp/centroidal-dynamics/util.hh
View file @
e94b7bfa
...
...
@@ -2,8 +2,8 @@
* Copyright 2015, LAAS-CNRS
* Author: Andrea Del Prete
*/
#ifndef _CENTROIDAL_DYNAMICS_
LIB_
UTIL_HH
#define _CENTROIDAL_DYNAMICS_
LIB_
UTIL_HH
#ifndef
HPP
_CENTROIDAL_DYNAMICS_UTIL_HH
#define
HPP
_CENTROIDAL_DYNAMICS_UTIL_HH
#include
<iostream>
#include
<fstream>
...
...
@@ -174,25 +174,20 @@ namespace centroidal_dynamics
* @return nchoosek by k long matrix where each row is a unique k-size
* the first one, with all zeros.
*/
template
<
typename
DerivedV
,
typename
DerivedU
>
void
nchoosek
(
const
Eigen
::
MatrixBase
<
DerivedV
>
&
V
,
const
int
k
,
Eigen
::
PlainObjectBase
<
DerivedU
>
&
U
)
{
using
namespace
Eigen
;
if
(
V
.
size
()
==
0
)
{
U
.
resize
(
0
,
k
);
return
;
}
assert
((
V
.
cols
()
==
1
||
V
.
rows
()
==
1
)
&&
"V must be a vector"
);
U
.
resize
(
nchoosek
((
int
)(
V
.
size
()),
k
),
k
);
int
running_i
=
0
;
int
running_j
=
0
;
Matrix
<
typename
DerivedU
::
Scalar
,
1
,
Dynamic
>
running
(
1
,
k
);
doCombs
(
running
,
running_i
,
running_j
,
U
,
V
,
0
,
k
);
}
}
//namespace centroidal_dynamics
#endif //_CENTROIDAL_DYNAMICS_LIB_UTIL_HH
template
<
typename
DerivedV
,
typename
DerivedU
>
void
nchoosek
(
const
Eigen
::
MatrixBase
<
DerivedV
>&
V
,
const
int
k
,
Eigen
::
PlainObjectBase
<
DerivedU
>&
U
)
{
using
namespace
Eigen
;
if
(
V
.
size
()
==
0
)
{
U
.
resize
(
0
,
k
);
return
;
}
assert
((
V
.
cols
()
==
1
||
V
.
rows
()
==
1
)
&&
"V must be a vector"
);
U
.
resize
(
nchoosek
((
int
)(
V
.
size
()),
k
),
k
);
int
running_i
=
0
;
int
running_j
=
0
;
Matrix
<
typename
DerivedU
::
Scalar
,
1
,
Dynamic
>
running
(
1
,
k
);
doCombs
(
running
,
running_i
,
running_j
,
U
,
V
,
0
,
k
);
}
}
// namespace centroidal_dynamics
#endif // HPP_CENTROIDAL_DYNAMICS_UTIL_HH
src/CMakeLists.txt
View file @
e94b7bfa
...
...
@@ -20,7 +20,7 @@ SET(${LIBRARY_NAME}_SOURCES
ADD_LIBRARY
(
${
LIBRARY_NAME
}
SHARED
${${
LIBRARY_NAME
}
_SOURCES
}
)
TARGET_LINK_LIBRARIES
(
${
LIBRARY_NAME
}
${
CDD_LIBRARIES
}
${
qpOASES_LIBRARY
}
)
TARGET_INCLUDE_DIRECTORIES
(
${
LIBRARY_NAME
}
PUBLIC
${
CDD_INCLUDE_DIRS
}
)
TARGET_INCLUDE_DIRECTORIES
(
${
LIBRARY_NAME
}
SYSTEM
PUBLIC
${
CDD_INCLUDE_DIRS
}
)
PKG_CONFIG_USE_DEPENDENCY
(
${
LIBRARY_NAME
}
eigen3
)
if
(
CLP_FOUND
)
...
...
src/util.cpp
View file @
e94b7bfa
...
...
@@ -3,9 +3,7 @@
* Author: Andrea Del Prete
*/
#ifndef _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
#define _CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
#include
<ctime>
#include
<hpp/centroidal-dynamics/util.hh>
#include
<ctime>
...
...
@@ -208,6 +206,4 @@ value_type nchoosek(const int n, const int k)
}
}
}
//namespace centroidal_dynamics
#endif //_CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
}
// namespace centroidal_dynamics
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