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]	Method	The method to be called.
[in]	Args	Arguments 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

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

• src/Mathematics/FootConstraintsAsLinearSystem.hh
• src/Mathematics/FootConstraintsAsLinearSystem.cpp