Testing COM equilibrium given some number of contacts. More...

#include <Stability.h>

Public Member Functions
void	Setup (const std::vector< ContactPoint > &contacts, const Vector3 &fext, int numFCEdges, const Vector3 &com)

void	Setup (const std::vector< CustomContactPoint > &contacts, const Vector3 &fext, const Vector3 &com)

void	Setup (const CustomContactFormation &contacts, const Vector3 &fext, const Vector3 &com)

void	SetupAnyCOM (const std::vector< ContactPoint > &contacts, const Vector3 &fext, int numFCEdges)

void	SetupAnyCOM (const std::vector< CustomContactPoint > &contacts, const Vector3 &fext)

void	SetupAnyCOM (const CustomContactFormation &contacts, const Vector3 &fext)

bool	TestCOM (const std::vector< ContactPoint > &contacts, const Vector3 &fext, int numFCEdges, const Vector3 &com)

bool	TestCOM (const std::vector< CustomContactPoint > &contacts, const Vector3 &fext, const Vector3 &com)

bool	TestCOM (const CustomContactFormation &contacts, const Vector3 &fext, const Vector3 &com)

bool	TestAnyCOM (const std::vector< ContactPoint > &contacts, const Vector3 &fext, int numFCEdges)

bool	TestAnyCOM (const std::vector< CustomContactPoint > &contacts, const Vector3 &fext)

bool	TestAnyCOM (const CustomContactFormation &contacts, const Vector3 &fext)

void	ChangeContacts (const std::vector< ContactPoint > &contacts)

void	ChangeContact (int i, ContactPoint &contact)

void	ChangeGravity (const Vector3 &fext)

void	ChangeCOM (const Vector3 &com)

void	SetRobustnessFactor (Real frobust)

void	SetRobustnessFactor (int i, Real frobust)

void	LimitContactForce (int i, Real maximum, const Vector3 &dir)

void	LimitContactForceSum (const std::vector< int > &indices, Real maximum, const Vector3 &dir)

bool	TestCurrent ()

void	GetValidCOM (Vector3 &com) const

void	GetForceVector (Vector &f) const

void	GetForces (std::vector< Vector3 > &f) const

void	Clear ()

bool	IsEmpty ()

int	NumContacts () const

int	NumFCEdges () const

Detailed Description

Testing COM equilibrium given some number of contacts.

The class methods have a potential advantage over the static TestCOM() and TestAnyCOM() functions if you're testing multiple centers of mass with the same number of contacts. They also let you do more sophisticated things with robustness and force limiting.

However, if the contacts remain the same, and you're testing a large number of COMs (10-20), it's better to use the SupportPolygon class to compute the entire support polygon.

See also: SupportPolygon

Member Function Documentation

void EquilibriumTester::Setup	(	const std::vector< ContactPoint > &	contacts,
		const Vector3 &	fext,
		int	numFCEdges,
		const Vector3 &	com
	)

Sets up the LP sum fk = fext sum [pk-p]fk = [cm-p]fext fk in FCk (p is a constant shift)

Referenced by Setup().

void EquilibriumTester::Setup	(	const std::vector< CustomContactPoint > &	contacts,
		const Vector3 &	fext,
		const Vector3 &	com
	)

Sets up the LP sum fk = fext sum [pk-p]fk = [cm-p]fext fk in FCk (p is a constant shift)

References Setup().

void EquilibriumTester::SetupAnyCOM	(	const std::vector< ContactPoint > &	contacts,
		const Vector3 &	fext,
		int	numFCEdges
	)

Sets up LP over fk,cm sum fk = fext sum (pk-p) x fk + fext x cm = 0 fk in FCk (add p to cm to get a stable com)

References Math3D::Matrix3::setCrossProduct().

void EquilibriumTester::SetupAnyCOM	(	const std::vector< CustomContactPoint > &	contacts,
		const Vector3 &	fext
	)

Sets up LP over fk,cm sum fk = fext sum (pk-p) x fk + fext x cm = 0 fk in FCk (add p to cm to get a stable com)

References Math3D::Matrix3::setCrossProduct().

void EquilibriumTester::SetupAnyCOM	(	const CustomContactFormation &	contacts,
		const Vector3 &	fext
	)

Sets up LP over fk,cm sum fk = fext sum (pk-p) x fk + fext x cm = 0 fk in FCk (add p to cm to get a stable com)

References Geometry::UnboundedPolytope2D::CalcPlanes(), Geometry::PolytopeProjection2D::Create(), Geometry::PolytopeProjection2D::Expand(), Math3D::GetCanonicalBasis(), Math3D::Matrix3::setCrossProduct(), Geometry::UnboundedPolytope2D::vertices, and Optimization::RobustLPSolver::xopt.

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

Stability.h
Stability.cpp

Public Member Functions

Detailed Description

Member Function Documentation