#include <Mathematics/FootConstraintsAsLinearSystemForVelRef.hh>

Public Member Functions
	FootConstraintsAsLinearSystemForVelRef (SimplePluginManager aSPM, CjrlHumanoidDynamicRobot aHS, double ConstraintOnX, double ConstraintOnY)
	~FootConstraintsAsLinearSystemForVelRef ()
int	ComputeLinearSystem (std::vector< CH_Point > aVecOfPoints, MAL_MATRIX(&A, double), MAL_MATRIX(&B, double), MAL_VECTOR(&C, double))
int	computeLinearSystem (std::vector< CH_Point > aVecOfPoints, MAL_MATRIX(&D, double), MAL_MATRIX(&Dc, double), SupportState_t PrwSupport)
int	buildLinearConstraintInequalities (std::deque< FootAbsolutePosition > &LeftFootAbsolutePositions, std::deque< FootAbsolutePosition > &RightFootAbsolutePositions, std::deque< LinearConstraintInequalityFreeFeet_t > &QueueOfLConstraintInequalities, std::deque< LinearConstraintInequalityFreeFeet_t > &QueueOfFeetPosInequalities, ReferenceAbsoluteVelocity &RefVel, double StartingTime, double m_QP_N, SupportFSM *SupportFSM, SupportState_t CurrentSupport, SupportState_t &PrwSupport, std::deque< double > &PreviewedSupportAngles, int &NbOfConstraints)
int	BuildLinearConstraintInequalities2 (std::deque< FootAbsolutePosition > &LeftFootAbsolutePositions, std::deque< FootAbsolutePosition > &RightFootAbsolutePositions, std::deque< LinearConstraintInequality_t > &QueueOfLConstraintInequalities, double ConstraintOnX, double ConstraintOnY)
int	FindSimilarConstraints (MAL_MATRIX(&A, double), 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

FootConstraintsAsLinearSystemForVelRef::FootConstraintsAsLinearSystemForVelRef	(	SimplePluginManager *	aSPM,
		CjrlHumanoidDynamicRobot *	aHS,
		double	ConstraintOnX,
		double	ConstraintOnY
	)

Constructor

References CjrlFoot::getAnklePositionInLocalFrame(), CjrlFoot::getSoleSize(), CjrlHumanoidDynamicRobot::leftFoot(), CjrlHumanoidDynamicRobot::rightFoot(), PatternGeneratorJRL::FootHalfSize::setConstraints(), and PatternGeneratorJRL::FootHalfSize::setHalfSizeInit().

FootConstraintsAsLinearSystemForVelRef::~FootConstraintsAsLinearSystemForVelRef ( )

Destructor

Member Function Documentation

int FootConstraintsAsLinearSystemForVelRef::buildLinearConstraintInequalities	(	std::deque< FootAbsolutePosition > &	LeftFootAbsolutePositions,
		std::deque< FootAbsolutePosition > &	RightFootAbsolutePositions,
		std::deque< LinearConstraintInequalityFreeFeet_t > &	QueueOfLConstraintInequalities,
		std::deque< LinearConstraintInequalityFreeFeet_t > &	QueueOfFeetPosInequalities,
		ReferenceAbsoluteVelocity &	RefVel,
		double	StartingTime,
		double	m_QP_N,
		SupportFSM *	SupportFSM,
		SupportState_t	CurrentSupport,
		SupportState_t &	PrwSupport,
		std::deque< double > &	PreviewedSupportAngles,
		int &	NbOfConstraints
	)

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

References computeLinearSystem(), PatternGeneratorJRL::FootHalfSize::getHalfHeight(), PatternGeneratorJRL::FootHalfSize::getHalfHeightDS(), PatternGeneratorJRL::FootHalfSize::getHalfWidth(), MAL_MATRIX_NB_ROWS, PatternGeneratorJRL::SupportFSM::setSupportState(), and PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_s::StepNumber.

int PatternGeneratorJRL::FootConstraintsAsLinearSystemForVelRef::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.

void FootConstraintsAsLinearSystemForVelRef::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 PatternGeneratorJRL::FootHalfSize::setConstraints().

int PatternGeneratorJRL::FootConstraintsAsLinearSystemForVelRef::ComputeLinearSystem	(	std::vector< CH_Point >	aVecOfPoints,
		MAL_MATRIX &,	double,
		MAL_MATRIX &,	double,
		MAL_VECTOR &,	double
	)

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.

int FootConstraintsAsLinearSystemForVelRef::computeLinearSystem	(	std::vector< CH_Point >	aVecOfPoints,
		MAL_MATRIX &,	double,
		MAL_MATRIX &,	double,
		SupportState_t	PrwSupport
	)

Compute the linear system ${\bf D}{\bf x} \geq {\bf b}$ associated with the set of points specified by aVecOfPoints. aVecOfPoints is supposed can represent either the convex hull of the robot contact points with the ground or the constraints on the placement of the feet.

References MAL_MATRIX, MAL_MATRIX_RESIZE, and n.

Referenced by buildLinearConstraintInequalities().

int FootConstraintsAsLinearSystemForVelRef::FindSimilarConstraints	(	MAL_MATRIX &,	double,
		std::vector< int > &	SimilarConstraints
	)

Find Similar Constraints

References MAL_MATRIX, and MAL_MATRIX_NB_ROWS.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation