Keyboard shortcuts

Press ← or → to navigate between chapters

Press S or / to search in the book

Press ? to show this help

Press Esc to hide this help

hpp-constraints

Numerical constraints and solvers of the Humanoid Path Planner.

  • Differentiable functions from a Lie group, for instance the configuration space of a robot, to another Lie group: position and orientation of frames (GenericTransformation), center of mass (RelativeCom), distance between bodies, contact between convex shapes, static stability…
  • Implicit constraints, defined by a differentiable function, comparison types (equality or inequality) and a right hand side.
  • Explicit constraints, where some configuration variables are computed from the others, for instance the pose of an object held by a gripper (explicit_::RelativePose) or locked joints.
  • Solvers: solver::HierarchicalIterative solves implicit constraints by order of priority with a Newton-like method, and solver::BySubstitution also substitutes the variables computed by explicit constraints.

The Python bindings are in module pyhpp.constraints of hpp-python.

Documentation