Defines rectangular constraints (of the form D*z <= d) for the ZMP. More...

#include <rect_constraint.h>

Inheritance diagram for RectangularConstraint_ZMP:

Public Member Functions
	RectangularConstraint_ZMP (const double *)
	A constructor. More...

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)]. More...

void	Constraints2Vert ()
	Computes the vertices of a polygon from the constraints (D*x <= d) More...

Public Attributes
double	D [4 *2]
	Matrix of the constraints D*z <= d (where z is a 2D point). More...

double	d [4]

double	d_orig [4]
	Size of the support polygon for a single support (no rotation / translation). More...

MatrixXd	vert
	Absolute coordinates of vertices. More...

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::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 37 of file rect_constraint.cpp.

Member Function Documentation

◆ Constraints2Vert()

void RectangularConstraint_ZMP::Constraints2Vert ( )

Computes the vertices of a polygon from the constraints (D*x <= d)

The numbering of the vertices is

3---------2
|         |
|         |
4---------1

Definition at line 99 of file rect_constraint.cpp.

◆ rotate_translate()

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 70 of file rect_constraint.cpp.

Member Data Documentation

◆ D

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.

◆ d

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.

◆ d_orig

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.

◆ vert

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

Public Member Functions

Public Attributes