Add new structure to handle data related to constraints on feet.

src/Mathematics/FootHalfSize.cpp

+/*
+ * Copyright 2010, 
+ *
+ * Olivier    Stasse
+ * 
+ *
+ * JRL, CNRS/AIST
+ *
+ * This file is part of walkGenJrl.
+ * walkGenJrl is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * walkGenJrl is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Lesser Public License for more details.
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *  Research carried out within the scope of the 
+ *  Joint Japanese-French Robotics Laboratory (JRL)
+ */
+
+#include <Mathematics/FootHalfSize.hh>
+
+using namespace PatternGeneratorJRL;
+
+FootHalfSize::FootHalfSize()
+{
+  m_HalfWidth = -1.0;
+  m_HalfHeight = -1.0;
+  m_HalfWidthInit = -1.0;
+  m_HalfHeightInit = -1.0;
+  m_HalfHeightDS = -1.0;
+
+  // Variation around X < 1 cm by default.
+  m_ConstraintsOnX = 0.01;
+
+  // Variation around Y < 2 cm by default.
+  m_ConstraintsOnY = 0.02;
+}
+
+FootHalfSize::~FootHalfSize()
+{
+}
+
+void FootHalfSize::setHalfSizeInit(double lHalfWidthInit,
+			      double lHalfHeightInit)
+{
+  m_HalfHeightInit = lHalfHeightInit;
+  m_HalfWidthInit = lHalfWidthInit;
+  
+  updateHalfSize();
+  updateHalfHeightDS();
+}
+
+void FootHalfSize::updateHalfSize()
+{
+  m_HalfWidth = 0.5 * m_HalfWidthInit;
+  m_HalfHeight = 0.5 * m_HalfHeightInit;
+
+  m_HalfWidth -= m_ConstraintsOnX;
+  m_HalfHeight -= m_ConstraintsOnY;
+  
+}
+
+void FootHalfSize::updateHalfHeightDS()
+{
+  double DSFeetDistance = 0.2;
+  
+  m_HalfHeightDS = m_HalfHeight-m_ConstraintsOnX+DSFeetDistance/2.0;
+}
+
+void FootHalfSize::setConstraints(double OnX, double OnY)
+{
+  m_ConstraintsOnX = OnX;
+  m_ConstraintsOnX = OnY;
+
+  updateHalfSize();
+  updateHalfHeightDS();
+
+}
+
+double FootHalfSize::getHalfHeight() const
+{
+  return m_HalfHeight;
+}
+
+double FootHalfSize::getHalfWidth() const
+{
+  return m_HalfWidth;
+}
+
+double FootHalfSize::getHalfHeightDS() const
+{
+  return m_HalfHeightDS;
+}
+

src/Mathematics/FootHalfSize.hh

+/*
+ * Copyright 2010, 
+ *
+ * Olivier    Stasse
+ * 
+ *
+ * JRL, CNRS/AIST
+ *
+ * This file is part of walkGenJrl.
+ * walkGenJrl is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * walkGenJrl is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Lesser Public License for more details.
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *  Research carried out within the scope of the 
+ *  Joint Japanese-French Robotics Laboratory (JRL)
+ */
+
+#ifndef _FOOT_HALF_SIZE_H_
+#define _FOOT_HALF_SIZE_H_
+
+namespace PatternGeneratorJRL
+{
+  
+  /*! This class handles the size and the constraints related to the feet
+   */
+  class FootHalfSize 
+  {
+  public:
+    FootHalfSize();
+    ~FootHalfSize();
+    
+    void setHalfSizeInit(double lHalfWidth,
+			 double lHalfHeight);
+
+    void setConstraints(double OnX,
+			double OnY);
+    
+  protected:
+    void updateHalfHeightDS();
+    void updateHalfSize();
+
+  private:
+
+    double m_HalfHeight;
+    double m_HalfWidth;
+    double m_HalfHeightDS;
+    double m_HalfHeightInit;
+    double m_HalfWidthInit;
+
+    double m_ConstraintsOnX;
+    double m_ConstraintsOnY;
+
+  public:
+    
+    double getHalfHeight() const;
+    double getHalfWidth() const;
+    double getHalfHeightDS() const;
+  };
+};
+
+#endif /*  _FOOT_HALF_SIZE_H_*/