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PatternGeneratorJRL::RelativeFeetInequalities Class Reference

Generate a stack of inequalities relative to feet centers for the whole preview window. More...

#include <Mathematics/relative-feet-inequalities.hh>

Inheritance diagram for PatternGeneratorJRL::RelativeFeetInequalities:
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Collaboration diagram for PatternGeneratorJRL::RelativeFeetInequalities:
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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 \({\bf A}{\bf x} \geq {\bf b}\) associated with the convex hull specified by a vector of points. More...
 
virtual void CallMethod (std::string &Method, std::istringstream &Args)
 Reimplement the interface of SimplePluginManager. More...
 
void getFeetSize (FootHalfSize &leftFootSize, FootHalfSize &rightFootSize)
 Reimplement the interface of SimplePluginManager. More...
 
double DSFeetDistance ()
 
Constructors and destructors.
 RelativeFeetInequalities (SimplePluginManager *aSPM, PinocchioRobot *aPR)
 
 ~RelativeFeetInequalities ()
 

Detailed Description

Generate a stack of inequalities relative to feet centers for the whole preview window.

Constructor & Destructor Documentation

RelativeFeetInequalities::RelativeFeetInequalities ( SimplePluginManager *  aSPM,
PinocchioRobot aPR 
)

References i.

RelativeFeetInequalities::~RelativeFeetInequalities ( )

Member Function Documentation

void RelativeFeetInequalities::CallMethod ( std::string &  Method,
std::istringstream &  Args 
)
virtual

Reimplement the interface of SimplePluginManager.

Parameters
[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 \({\bf A}{\bf x} \geq {\bf b}\) associated with the convex hull specified by a vector of points.

Parameters
[out]aVecOfPointsa vector of vertices
[in]PrwSupportpreviewed support state

References i.

double PatternGeneratorJRL::RelativeFeetInequalities::DSFeetDistance ( )
inline
void RelativeFeetInequalities::getFeetSize ( FootHalfSize leftFootSize,
FootHalfSize rightFootSize 
)

Reimplement the interface of SimplePluginManager.

Parameters
[in]Method,:The method to be called.
[in]Args,:Arguments of the methods.
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.

Parameters
[out]ConvexHull
[in]SupportState
[in]TypeCoP/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.

Parameters
[out]ConvexHullVertices of the convex hull
[in]SupportStateCorresponding support state
[in]TypeCoP/Feet