GHCJTController.cpp File Reference

Implement the quasi-static Generalized Hierarchical Control based on Jacobian Transpose (GHCJT). More...

#include "gocra/GHCJTController.h"
#include <iostream>
#include "ocra/optim/OneLevelSolver.h"
#include "ocra/optim/QuadraticFunction.h"
#include "ocra/optim/FunctionHelpers.h"
#include "ocra/optim/SumOfLinearFunctions.h"
#include "ocra/control/FullState.h"
#include "ocra/control/Feature.h"
#include "ocra/control/Model.h"
#include "ocra/control/ContactSet.h"
#include "gocra/Tasks/GHCJTTask.h"
#include "gocra/Performances.h"
#include "gocra/OrthonormalFamily.h"

Include dependency graph for GHCJTController.cpp:

Go to the source code of this file.

Classes
struct	gocra::GHCJTController::Pimpl

Namespaces
	gocra

Detailed Description

Implement the quasi-static Generalized Hierarchical Control based on Jacobian Transpose (GHCJT).

Author

Mingxing Liu

Definition in file GHCJTController.cpp.