Variables of the trajectory optimization problem. More...
Namespaces | |
| towr::id | |
| Identifiers (names) used for variables in the optimization problem. | |
Classes | |
| class | towr::NodesVariables |
| Position and velocity of nodes used to generate a Hermite spline. More... | |
| class | towr::NodesVariablesAll |
| Node variables used to construct the base motion spline. More... | |
| class | towr::NodesVariablesEEForce |
| Variables fully defining the endeffector forces. More... | |
| class | towr::NodesVariablesEEMotion |
| Variables fully defining the endeffector motion. More... | |
| class | towr::NodesVariablesPhaseBased |
| Nodes that are associated to either swing or stance phases. More... | |
| class | towr::PhaseDurations |
| A variable set composed of the phase durations of an endeffector. More... | |
Variables of the trajectory optimization problem.
These are the quantities through which the optimization problem is parameterized.
Folder: include/towr/variables.