Generate a stack of inequalities relative to feet centers for the whole preview window. More...
#include <Mathematics/relative-feet-inequalities.hh>
Public Member Functions | |
void | set_vertices (convex_hull_t &ConvexHull, const support_state_t &SupportState, ineq_e type) |
Adapt vertices to the support foot and its orientation. More... | |
void | set_inequalities (convex_hull_t &ConvexHull, const support_state_t &Support, ineq_e type) |
Adapt inequalities to the support foot and its orientation. More... | |
void | compute_linear_system (convex_hull_t &ConvexHull, const support_state_t &PrwSupport) const |
Compute the linear inequalities ![]() | |
virtual void | CallMethod (std::string &Method, std::istringstream &Args) |
Reimplement the interface of SimplePluginManager. More... | |
Constructors and destructors. | |
RelativeFeetInequalities (SimplePluginManager *aSPM, CjrlHumanoidDynamicRobot *aHS) | |
~RelativeFeetInequalities () | |
Generate a stack of inequalities relative to feet centers for the whole preview window.
RelativeFeetInequalities::RelativeFeetInequalities | ( | SimplePluginManager * | aSPM, |
CjrlHumanoidDynamicRobot * | aHS | ||
) |
References i.
RelativeFeetInequalities::~RelativeFeetInequalities | ( | ) |
References PatternGeneratorJRL::FootHalfSize::getHalfHeight(), PatternGeneratorJRL::FootHalfSize::getHalfHeightDS(), PatternGeneratorJRL::FootHalfSize::getHalfWidth(), CjrlFoot::getSoleSize(), j, CjrlHumanoidDynamicRobot::leftFoot(), CjrlHumanoidDynamicRobot::rightFoot(), PatternGeneratorJRL::FootHalfSize::setConstraints(), and PatternGeneratorJRL::FootHalfSize::setHalfSizeInit().
|
virtual |
Reimplement the interface of SimplePluginManager.
[in] | Method | The method to be called. |
[in] | Args | Arguments of the methods. |
References i, and PatternGeneratorJRL::FootHalfSize::setConstraints().
void RelativeFeetInequalities::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.
[out] | aVecOfPoints | a vector of vertices |
[in] | PrwSupport | previewed support state |
References i.
void RelativeFeetInequalities::set_inequalities | ( | convex_hull_t & | ConvexHull, |
const support_state_t & | Support, | ||
ineq_e | type | ||
) |
Adapt inequalities to the support foot and its orientation.
[out] | ConvexHull | |
[in] | SupportState | |
[in] | Type | CoP/Feet/CoM |
void RelativeFeetInequalities::set_vertices | ( | convex_hull_t & | ConvexHull, |
const support_state_t & | SupportState, | ||
ineq_e | type | ||
) |
Adapt vertices to the support foot and its orientation.
[out] | ConvexHull | Vertices of the convex hull |
[in] | SupportState | Corresponding support state |
[in] | Type | CoP/Feet |