32 #ifndef _RELATIVE_FEET_INEQUALITIES_
33 #define _RELATIVE_FEET_INEQUALITIES_
40 #include <SimplePlugin.hh>
42 #include <privatepgtypes.hh>
70 const support_state_t &SupportState, ineq_e type);
78 const support_state_t &Support, ineq_e type);
87 const support_state_t &PrwSupport)
const;
93 virtual void CallMethod(std::string &Method, std::istringstream &Args);
110 int init_convex_hulls();
121 int init_feet_constraints();
128 convex_hull_t LeftSS, RightSS, RightDS, LeftDS;
130 struct edges_s FootPosEdges_, ZMPPosEdges_;
133 convex_hull_t CoMHull_;
135 double LeftFPosEdgesX_[5], LeftFPosEdgesY_[5];
136 double RightFPosEdgesX_[5], RightFPosEdgesY_[5];
139 FootHalfSize LeftFootSize_, RightFootSize_;
142 double SecurityMarginX_;
143 double SecurityMarginY_;
146 double DSFeetDistance_;
Definition: pinocchiorobot.hh:57
Generate a stack of inequalities relative to feet centers for the whole preview window.
Definition: relative-feet-inequalities.hh:48
void set_vertices(convex_hull_t &ConvexHull, const support_state_t &SupportState, ineq_e type)
Adapt vertices to the support foot and its orientation.
Definition: relative-feet-inequalities.cpp:181
void set_inequalities(convex_hull_t &ConvexHull, const support_state_t &Support, ineq_e type)
Adapt inequalities to the support foot and its orientation.
Definition: relative-feet-inequalities.cpp:219
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.
Definition: relative-feet-inequalities.cpp:241
void getFeetSize(FootHalfSize &leftFootSize, FootHalfSize &rightFootSize)
Reimplement the interface of SimplePluginManager.
Definition: relative-feet-inequalities.cpp:341
virtual void CallMethod(std::string &Method, std::istringstream &Args)
Reimplement the interface of SimplePluginManager.
Definition: relative-feet-inequalities.cpp:296
~RelativeFeetInequalities()
Definition: relative-feet-inequalities.cpp:76
RelativeFeetInequalities(SimplePluginManager *aSPM, PinocchioRobot *aPR)
Definition: relative-feet-inequalities.cpp:42
double DSFeetDistance()
Definition: relative-feet-inequalities.hh:101
\doc Simulate a rigid body
Definition: patterngeneratorinterface.hh:41