This class implements the ContactPlanInterface by reading a sequence of contacts from a configuration file. More...

Inheritance diagram for momentumopt::ContactPlanFromFile:

Collaboration diagram for momentumopt::ContactPlanFromFile:

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Public Member Functions
virtual void	optimize (const DynamicsState &ini_state, const TerrainDescription &terrain)

Public Member Functions inherited from momentumopt::ContactPlanInterface
void	initialize (const PlannerSetting &planner_setting)

void	fillDynamicsSequence (const DynamicsState &ini_state, DynamicsSequence &dynamics_sequence)

void	updateEndeffectorTrajectories (const DynamicsState &ini_state, DynamicsSequence &dynamics_sequence)

ContactSequence &	contactSequence ()

const ContactSequence &	contactSequence () const

ViapointSequence &	viapointSequence ()

const ViapointSequence &	viapointSequence () const

Additional Inherited Members
Protected Member Functions inherited from momentumopt::ContactPlanInterface
const PlannerSetting &	getSetting () const

Protected Attributes inherited from momentumopt::ContactPlanInterface
TrajectoryGenerator	sw_traj_

ContactSequence	contact_sequence_

ViapointSequence	viapoint_sequence_

const PlannerSetting *	planner_setting_

Detailed Description

This class implements the ContactPlanInterface by reading a sequence of contacts from a configuration file.

The documentation for this class was generated from the following files:

Public Member Functions