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hpp-centroidal-dynamics
Commits
05d76f6d
Commit
05d76f6d
authored
8 years ago
by
Steve Tonneau
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adding option to canonicalize polytope generators in api
parent
6c0d8725
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include/robust-equilibrium-lib/static_equilibrium.hh
+5
-1
5 additions, 1 deletion
include/robust-equilibrium-lib/static_equilibrium.hh
src/static_equilibrium.cpp
+3
-2
3 additions, 2 deletions
src/static_equilibrium.cpp
with
8 additions
and
3 deletions
include/robust-equilibrium-lib/static_equilibrium.hh
+
5
−
1
View file @
05d76f6d
...
...
@@ -50,6 +50,8 @@ private:
* indicate the max number of attempts to compute the cone by introducing
* a small pertubation of the system */
const
unsigned
max_num_cdd_trials
;
/** whether to remove redundant inequalities when computing double description matrices*/
const
bool
canonicalize_cdd_matrix
;
/** Inequality matrix and vector defining the CoM support polygon HD com + Hd <= h */
MatrixX3
m_HD
;
...
...
@@ -88,10 +90,12 @@ public:
* @param solver_type Type of LP solver to use.
* @param useWarmStart Whether the LP solver can warm start the resolution.
* @param max_num_cdd_trials indicate the max number of attempts to compute the cone by introducing
* @param canonicalize_cdd_matrix whether to remove redundant inequalities when computing double description matrices
* a small pertubation of the system
*/
StaticEquilibrium
(
std
::
string
name
,
double
mass
,
unsigned
int
generatorsPerContact
,
SolverLP
solver_type
,
bool
useWarmStart
=
true
,
const
unsigned
int
max_num_cdd_trials
=
0
);
SolverLP
solver_type
,
bool
useWarmStart
=
true
,
const
unsigned
int
max_num_cdd_trials
=
0
,
const
bool
canonicalize_cdd_matrix
=
false
);
/**
* @brief Returns the useWarmStart flag.
...
...
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src/static_equilibrium.cpp
+
3
−
2
View file @
05d76f6d
...
...
@@ -19,9 +19,10 @@ bool StaticEquilibrium::m_is_cdd_initialized = false;
StaticEquilibrium
::
StaticEquilibrium
(
string
name
,
double
mass
,
unsigned
int
generatorsPerContact
,
SolverLP
solver_type
,
bool
useWarmStart
,
const
unsigned
int
max_num_cdd_trials
)
const
unsigned
int
max_num_cdd_trials
,
const
bool
canonicalize_cdd_matrix
)
:
m_is_cdd_stable
(
true
)
,
max_num_cdd_trials
(
max_num_cdd_trials
)
,
canonicalize_cdd_matrix
(
canonicalize_cdd_matrix
)
{
if
(
!
m_is_cdd_initialized
)
{
...
...
@@ -495,7 +496,7 @@ LP_status StaticEquilibrium::findExtremumInDirection(Cref_vector3 direction, Ref
bool
StaticEquilibrium
::
computePolytopeProjection
(
Cref_matrix6X
v
)
{
// getProfiler().start("eigen_to_cdd");
dd_MatrixPtr
V
=
cone_span_eigen_to_cdd
(
v
.
transpose
());
dd_MatrixPtr
V
=
cone_span_eigen_to_cdd
(
v
.
transpose
()
,
canonicalize_cdd_matrix
);
// getProfiler().stop("eigen_to_cdd");
dd_ErrorType
error
=
dd_NoError
;
...
...
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