mpc_trot.hpp File Reference

#include <memory>
#include "Eigen/Core"
#include "Eigen/Geometry"
#include "robotoc/robot/robot.hpp"
#include "robotoc/ocp/ocp.hpp"
#include "robotoc/solver/ocp_solver.hpp"
#include "robotoc/planner/contact_sequence.hpp"
#include "robotoc/cost/cost_function.hpp"
#include "robotoc/constraints/constraints.hpp"
#include "robotoc/solver/solver_options.hpp"
#include "robotoc/mpc/contact_planner_base.hpp"
#include "robotoc/cost/configuration_space_cost.hpp"
#include "robotoc/cost/task_space_3d_cost.hpp"
#include "robotoc/cost/com_cost.hpp"
#include "robotoc/mpc/mpc_periodic_swing_foot_ref.hpp"
#include "robotoc/mpc/mpc_periodic_com_ref.hpp"
#include "robotoc/mpc/mpc_periodic_configuration_ref.hpp"
#include "robotoc/constraints/joint_position_lower_limit.hpp"
#include "robotoc/constraints/joint_position_upper_limit.hpp"
#include "robotoc/constraints/joint_velocity_lower_limit.hpp"
#include "robotoc/constraints/joint_velocity_upper_limit.hpp"
#include "robotoc/constraints/joint_torques_lower_limit.hpp"
#include "robotoc/constraints/joint_torques_upper_limit.hpp"
#include "robotoc/constraints/friction_cone.hpp"
#include "robotoc/constraints/impact_friction_cone.hpp"
#include "robotoc/mpc/control_policy.hpp"

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Classes
class	robotoc::MPCTrot
	MPC solver for the trot gait of quadrupeds. More...

Namespaces
namespace	robotoc