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:

Collaboration diagram for PatternGeneratorJRL::RelativeFeetInequalities:

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

(

)

References PatternGeneratorJRL::PinocchioRobotFoot_t::associatedAnkle, j, PatternGeneratorJRL::PinocchioRobot::leftFoot(), PatternGeneratorJRL::PinocchioRobot::rightFoot(), PatternGeneratorJRL::PinocchioRobotFoot_t::soleHeight, and PatternGeneratorJRL::PinocchioRobotFoot_t::soleWidth.

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.

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]	aVecOfPoints	a vector of vertices
[in]	PrwSupport	previewed 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]	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.

Parameters

[out]	ConvexHull	Vertices of the convex hull
[in]	SupportState	Corresponding support state
[in]	Type	CoP/Feet