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PatternGeneratorJRL::FootConstraintsAsLinearSystem Class Reference

#include <Mathematics/FootConstraintsAsLinearSystem.hh>

Inheritance diagram for PatternGeneratorJRL::FootConstraintsAsLinearSystem:
Collaboration diagram for PatternGeneratorJRL::FootConstraintsAsLinearSystem:

Public Member Functions

 FootConstraintsAsLinearSystem (SimplePluginManager *aSPM, PinocchioRobot *aPR)
 
 ~FootConstraintsAsLinearSystem ()
 
int ComputeLinearSystem (std::vector< CH_Point > aVecOfPoints, Eigen::MatrixXd &A, Eigen::MatrixXd &B, Eigen::VectorXd &C)
 
int BuildLinearConstraintInequalities (std::deque< FootAbsolutePosition > &LeftFootAbsolutePositions, std::deque< FootAbsolutePosition > &RightFootAbsolutePositions, std::deque< LinearConstraintInequality_t * > &QueueOfLConstraintInequalities, double ConstraintOnX, double ConstraintOnY)
 
int BuildLinearConstraintInequalities2 (std::deque< FootAbsolutePosition > &LeftFootAbsolutePositions, std::deque< FootAbsolutePosition > &RightFootAbsolutePositions, std::deque< LinearConstraintInequality_t * > &QueueOfLConstraintInequalities, double ConstraintOnX, double ConstraintOnY)
 
int FindSimilarConstraints (Eigen::MatrixXd &A, std::vector< int > &SimilarConstraints)
 
virtual void CallMethod (std::string &Method, std::istringstream &Args)
 

Detailed Description

This class generates matrix representation of linear constraint based on foot position. It handles a stack of constraint on a sliding mode for QP solving.

Constructor & Destructor Documentation

◆ FootConstraintsAsLinearSystem()

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

Constructor

◆ ~FootConstraintsAsLinearSystem()

FootConstraintsAsLinearSystem::~FootConstraintsAsLinearSystem ( )

Destructor

Member Function Documentation

◆ BuildLinearConstraintInequalities()

int FootConstraintsAsLinearSystem::BuildLinearConstraintInequalities ( std::deque< FootAbsolutePosition > & LeftFootAbsolutePositions,
std::deque< FootAbsolutePosition > & RightFootAbsolutePositions,
std::deque< LinearConstraintInequality_t * > & QueueOfLConstraintInequalities,
double ConstraintOnX,
double ConstraintOnY )

Build a queue of constraint Inequalities based on a list of Foot Absolute Position.

◆ BuildLinearConstraintInequalities2()

int PatternGeneratorJRL::FootConstraintsAsLinearSystem::BuildLinearConstraintInequalities2 ( std::deque< FootAbsolutePosition > & LeftFootAbsolutePositions,
std::deque< FootAbsolutePosition > & RightFootAbsolutePositions,
std::deque< LinearConstraintInequality_t * > & QueueOfLConstraintInequalities,
double ConstraintOnX,
double ConstraintOnY )

Build a queue of constraint Inequalities based on a list of Foot Absolute Position.

◆ CallMethod()

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

Reimplement the interface of SimplePluginManager

Parameters
[in]MethodThe method to be called.
[in]ArgsArguments of the methods.

◆ ComputeLinearSystem()

int FootConstraintsAsLinearSystem::ComputeLinearSystem ( std::vector< CH_Point > aVecOfPoints,
Eigen::MatrixXd & A,
Eigen::MatrixXd & B,
Eigen::VectorXd & C )

Compute the linear system \({\bf A}{\bf x} \geq {\bf b}\) associated with the set of points specified by aVecOfPoints. aVecOfPoints is supposed to represent the convex hull of the robot contact points with the ground.

◆ FindSimilarConstraints()

int FootConstraintsAsLinearSystem::FindSimilarConstraints ( Eigen::MatrixXd & A,
std::vector< int > & SimilarConstraints )

Find Similar Constraints


The documentation for this class was generated from the following files: