Generate a stack of inequalities relative to feet centers for the whole preview window.
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#include <Mathematics/relative-feet-inequalities.hh>
Generate a stack of inequalities relative to feet centers for the whole preview window.
RelativeFeetInequalities::RelativeFeetInequalities |
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SimplePluginManager * |
aSPM, |
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PinocchioRobot * |
aPR |
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) |
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RelativeFeetInequalities::~RelativeFeetInequalities |
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void RelativeFeetInequalities::CallMethod |
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std::string & |
Method, |
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std::istringstream & |
Args |
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) |
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virtual |
void RelativeFeetInequalities::compute_linear_system |
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convex_hull_t & |
ConvexHull, |
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const support_state_t & |
PrwSupport |
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) |
| const |
Compute the linear inequalities \({\bf A}{\bf x} \geq {\bf b}\) 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.
double PatternGeneratorJRL::RelativeFeetInequalities::DSFeetDistance |
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inline |
Reimplement the interface of SimplePluginManager.
- Parameters
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[in] | Method,: | The method to be called. |
[in] | Args,: | Arguments of the methods. |
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 |
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) |
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Adapt inequalities to the support foot and its orientation.
- Parameters
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[out] | ConvexHull | |
[in] | SupportState | |
[in] | Type | CoP/Feet/CoM |
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 |
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) |
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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 |