Utility classes for testing (robust) equilibrium of a system in contact with the environment, and other centroidal dynamics methods
Project description
HPP-core
This package implements path planning algorithms for kinematic chains. Kinematic chains are represented by class hpp::pinocchio::Device.
The main classes are:
* hpp::core::Problem: defines a canonical path planning problem,
* hpp::core::PathPlanner: implements an algorithm to solve a problem,
* hpp::core::Roadmap: stores a network of collision-free paths
* hpp::core::SteeringMethod: builds paths between configurations taking into
account kinematic constraints.
* hpp::core::Path: paths for a robot.
Embedding hpp-core into an application
Class hpp::core::ProblemSolver is a container aiming at embedding hpp-core into an application. It stores elements of the problem that can be provided in random order and builds a valid problem upon call of method solve. After completion of method solve, it stores solution paths.
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