Generate a stack of inequalities relative to feet centers for the whole preview window.
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#include <Mathematics/relative-feet-inequalities.hh>
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void | set_vertices (convex_hull_t &ConvexHull, const support_state_t &SupportState, ineq_e type) |
| Adapt vertices to the support foot and its orientation.
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void | set_inequalities (convex_hull_t &ConvexHull, const support_state_t &Support, ineq_e type) |
| Adapt inequalities to the support foot and its orientation.
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void | compute_linear_system (convex_hull_t &ConvexHull, const support_state_t &PrwSupport) const |
| Compute the linear inequalities associated with the convex hull specified by a vector of points.
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virtual void | CallMethod (std::string &Method, std::istringstream &Args) |
| Reimplement the interface of SimplePluginManager.
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| RelativeFeetInequalities (SimplePluginManager *aSPM, CjrlHumanoidDynamicRobot *aHS) |
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| ~RelativeFeetInequalities () |
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Generate a stack of inequalities relative to feet centers for the whole preview window.
◆ RelativeFeetInequalities()
◆ ~RelativeFeetInequalities()
RelativeFeetInequalities::~RelativeFeetInequalities |
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◆ CallMethod()
void RelativeFeetInequalities::CallMethod |
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std::string & | Method, |
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std::istringstream & | Args ) |
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◆ compute_linear_system()
void RelativeFeetInequalities::compute_linear_system |
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convex_hull_t & | ConvexHull, |
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const support_state_t & | PrwSupport ) const |
Compute the linear inequalities
associated with the convex hull specified by a vector of points.
- Parameters
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[out] | aVecOfPoints | a vector of vertices |
[in] | PrwSupport | previewed support state |
References i.
◆ set_inequalities()
void RelativeFeetInequalities::set_inequalities |
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convex_hull_t & | ConvexHull, |
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const support_state_t & | Support, |
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ineq_e | type ) |
Adapt inequalities to the support foot and its orientation.
- Parameters
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[out] | ConvexHull | |
[in] | SupportState | |
[in] | Type | CoP/Feet/CoM |
◆ set_vertices()
void RelativeFeetInequalities::set_vertices |
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convex_hull_t & | ConvexHull, |
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const support_state_t & | SupportState, |
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ineq_e | type ) |
Adapt vertices to the support foot and its orientation.
- Parameters
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[out] | ConvexHull | Vertices of the convex hull |
[in] | SupportState | Corresponding support state |
[in] | Type | CoP/Feet |