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 \({\bf A}{\bf x} \geq {\bf b}\) 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 () | |
Generate a stack of inequalities relative to feet centers for the whole preview window.
RelativeFeetInequalities::RelativeFeetInequalities | ( | SimplePluginManager * | aSPM, |
PinocchioRobot * | aPR | ||
) |
References i.
RelativeFeetInequalities::~RelativeFeetInequalities | ( | ) |
References PatternGeneratorJRL::PinocchioRobotFoot_t::associatedAnkle, PatternGeneratorJRL::FootHalfSize::getHalfHeight(), PatternGeneratorJRL::FootHalfSize::getHalfHeightDS(), PatternGeneratorJRL::FootHalfSize::getHalfWidth(), j, PatternGeneratorJRL::PinocchioRobot::leftFoot(), PatternGeneratorJRL::PinocchioRobot::rightFoot(), PatternGeneratorJRL::FootHalfSize::setConstraints(), PatternGeneratorJRL::FootHalfSize::setHalfSizeInit(), PatternGeneratorJRL::PinocchioRobotFoot_t::soleHeight, and PatternGeneratorJRL::PinocchioRobotFoot_t::soleWidth.
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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 \({\bf A}{\bf x} \geq {\bf b}\) associated with the convex hull specified by a vector of points.
[out] | aVecOfPoints | a vector of vertices |
[in] | PrwSupport | previewed support state |
References i.
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inline |
void RelativeFeetInequalities::getFeetSize | ( | FootHalfSize & | leftFootSize, |
FootHalfSize & | rightFootSize | ||
) |
Reimplement the interface of SimplePluginManager.
[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.
[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 |