chomp_motion_planner: chomp_motion_planner: chomp

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00034 
00038 #ifndef CHOMP_UTILS_H_
00039 #define CHOMP_UTILS_H_
00040 
00041 #include <iostream>
00042 #include <eigen3/Eigen/Core>
00043 
00044 namespace chomp
00045 {
00046 
00047 static const int DIFF_RULE_LENGTH = 7;
00048 
00049 // the differentiation rules (centered at the center)
00050 static const double DIFF_RULES[3][DIFF_RULE_LENGTH] = {
00051     {0, 0, -2/6.0, -3/6.0, 6/6.0, -1/6.0, 0},                   // velocity
00052     {0, -1/12.0, 16/12.0, -30/12.0, 16/12.0, -1/12.0, 0},       // acceleration
00053     {0, 1/12.0, -17/12.0, 46/12.0, -46/12.0, 17/12.0, -1/12.0}  // jerk
00054 };
00055 
00056 } //namespace chomp
00057 
00058 #endif /* CHOMP_UTILS_H_ */
chomp_utils.h
