VirtualRobot::SupportPolygon Class Reference

Inheritance diagram for VirtualRobot::SupportPolygon:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SupportPolygon (SceneObjectSetPtr contactModels)
MathTools::ConvexHull2DPtr	updateSupportPolygon (float maxFloorDist=5.0f)
	Recalculate contacts and compute polygon. More...
MathTools::ConvexHull2DPtr	getSupportPolygon2D ()
MathTools::Plane	getFloorPlane ()
float	getStabilityIndex (RobotNodeSetPtr rns, bool update=true)
SceneObjectSetPtr	getContactModels ()

Protected Member Functions
float	getSquaredDistLine (Eigen::Vector2f &p, Eigen::Vector2f &pt1, Eigen::Vector2f &pt2)

Protected Attributes
SceneObjectSetPtr	contactModels
std::vector< CollisionModelPtr >	colModels
std::vector< Eigen::Vector2f >	currentContactPoints2D
MathTools::Plane	floor
MathTools::ConvexHull2DPtr	suportPolygonFloor

Detailed Description

The support polygon is defined through the contacts between a set of CollisionModels and the floor plane. In this implementation, contacts are defined as all surface points of the passed collision models which have a distance to MathTools::FloorPlane that is lower than 5mm.

Constructor & Destructor Documentation

SupportPolygon()

VirtualRobot::SupportPolygon::SupportPolygon

(

SceneObjectSetPtr

contactModels

)

Member Function Documentation

getContactModels()

VirtualRobot::SceneObjectSetPtr VirtualRobot::SupportPolygon::getContactModels

(

)

getFloorPlane()

VirtualRobot::MathTools::Plane VirtualRobot::SupportPolygon::getFloorPlane

(

)

getSquaredDistLine()

float VirtualRobot::SupportPolygon::getSquaredDistLine ( Eigen::Vector2f &  p, Eigen::Vector2f &  pt1, Eigen::Vector2f &  pt2  )

protected

getStabilityIndex()

float VirtualRobot::SupportPolygon::getStabilityIndex	(	VirtualRobot::RobotNodeSetPtr	rns,
		bool	update = true
	)

Computes quality index between 0 and 1 of the CoM projection of the robotNodeSet. 1 means that the current 2D CoM lies at the center of the support polygon 0 means it is outside.

getSupportPolygon2D()

VirtualRobot::MathTools::ConvexHull2DPtr VirtualRobot::SupportPolygon::getSupportPolygon2D

(

)

updateSupportPolygon()

VirtualRobot::MathTools::ConvexHull2DPtr VirtualRobot::SupportPolygon::updateSupportPolygon

(

float

maxFloorDist = 5.0f

)

Recalculate contacts and compute polygon.

Field Documentation

colModels

std::vector< CollisionModelPtr > VirtualRobot::SupportPolygon::colModels

protected

contactModels

SceneObjectSetPtr VirtualRobot::SupportPolygon::contactModels

protected

currentContactPoints2D

std::vector< Eigen::Vector2f > VirtualRobot::SupportPolygon::currentContactPoints2D

protected

floor

MathTools::Plane VirtualRobot::SupportPolygon::floor

protected

suportPolygonFloor

MathTools::ConvexHull2DPtr VirtualRobot::SupportPolygon::suportPolygonFloor

protected