Defines rectangular constraints (of the form D*z <= d) for the ZMP. More...
#include <rect_constraint.h>
Public Member Functions | |
| RectangularConstraint_ZMP (const double *) | |
| A constructor. | |
| void | rotate_translate (const double, const double, const double, const double) |
| translates from [0;0] to "p" and rotates from 0 to "angle". The 0 initial angle implies that D = [eye(2); -eye(2)]. | |
| void | Constraints2Vert () |
| Computes the vertices of a polygon from the constraints (D*x <= d) | |
Public Attributes | |
| double | D [4 *2] |
| Matrix of the constraints D*z <= d (where z is a 2D point). | |
| double | d [4] |
| double | d_orig [4] |
| Size of the support polygon for a single support (no rotation / translation). | |
| MatrixXd | vert |
| Absolute coordinates of vertices. | |
Detailed Description
Defines rectangular constraints (of the form D*z <= d) for the ZMP.
Definition at line 30 of file rect_constraint.h.
Constructor & Destructor Documentation
| RectangularConstraint_ZMP::RectangularConstraint_ZMP | ( | const double * | d_ | ) |
A constructor.
- Parameters:
-
[in] d_ a [4x1] array of constraints.
The constraints are 4 positive numbers, their meaning is illustrated by the following picture:
------------------------------------------------
| | |
| |d(2) |
| | |
| d(3) | d(1) |
|------------------- p ------------------------|
| | |
| | |
| |d(4) |
| | |
------------------------------------------------At creation p is assumed to be [0;0] and rotation angle = 0.
Definition at line 41 of file rect_constraint.cpp.
Member Function Documentation
Computes the vertices of a polygon from the constraints (D*x <= d)
The numbering of the vertices is
3---------2
| |
| |
4---------1Definition at line 103 of file rect_constraint.cpp.
| void RectangularConstraint_ZMP::rotate_translate | ( | const double | ca, |
| const double | sa, | ||
| const double | x, | ||
| const double | y | ||
| ) |
translates from [0;0] to "p" and rotates from 0 to "angle". The 0 initial angle implies that D = [eye(2); -eye(2)].
- Parameters:
-
[in] ca cos(angle) [in] sa sin(angle) [in] x x coordinate of the reference point [in] y y coordinate of the reference point
- Note:
- This is used when the constraints are initialized (only then the orientation can be set).
Definition at line 74 of file rect_constraint.cpp.
Member Data Documentation
| double RectangularConstraint_ZMP::D[4 *2] |
Matrix of the constraints D*z <= d (where z is a 2D point).
- Note:
- D is a [4 x 2] matrix stored column-wise (Fortran style). D is always initialized as (later it could be rotated using D*R'):
D[0] = 1.0; D[4] = 0.0; D[1] = 0.0; D[5] = 1.0; D[2] = -1.0; D[6] = 0.0; D[3] = 0.0; D[7] = -1.0; D = [ 1 0; 0 1; -1 0; 0 -1] * [cos(a) -sin(a) sin(a) cos(a)].
Definition at line 57 of file rect_constraint.h.
| double RectangularConstraint_ZMP::d[4] |
Size of the support polygon for a single support. Vector d of the constraints D*z <= d (where z is a 2D point).
Definition at line 62 of file rect_constraint.h.
| double RectangularConstraint_ZMP::d_orig[4] |
Size of the support polygon for a single support (no rotation / translation).
Definition at line 65 of file rect_constraint.h.
| MatrixXd RectangularConstraint_ZMP::vert |
Absolute coordinates of vertices.
Definition at line 68 of file rect_constraint.h.
The documentation for this class was generated from the following files:
- WMG/rect_constraint.h
- WMG/rect_constraint.cpp
