From 59a86b40fe5c5718bcf1fddb089b7c2c69ec399d Mon Sep 17 00:00:00 2001 From: andreadelprete <andre.delprete@gmail.com> Date: Tue, 3 Nov 2015 18:05:33 +0100 Subject: [PATCH] Minor change in readme --- README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 6686de7..6921a82 100644 --- a/README.md +++ b/README.md @@ -8,11 +8,11 @@ All the algorithms take as input: * The number of generators used for the linear approximations of the friction cones * The mass of the system -Once these input parameters have been specified the user has access to four main algorithms: -* computeEquilibriumRobustness: compute the robustness of the equilibrium of a given a CoM (center of mass) position (negative values mean the system can not be in equilibrium). -* checkRobustEquilibrium: checks whether the system can be in equilibrium in a specified CoM position and with a specified robustness level. -* findExtremumOverLine: Find the extremum com position that is in robust equilibrium along the specified line. -* findExtremumInDirection: Find the extremum com position that is in robust equilibrium in the specified direction. +Once these input parameters have been specified, the user has access to four algorithms implemented in the following four methods of the class ```StaticEquilibrium```: +* ```computeEquilibriumRobustness```: compute the robustness of the equilibrium of a given a CoM (center of mass) position (negative values mean the system can not be in equilibrium). +* ```checkRobustEquilibrium```: checks whether the system can be in equilibrium in a specified CoM position and with a specified robustness level. +* ```findExtremumOverLine```: Find the extremum com position that is in robust equilibrium along the specified line. +* ```findExtremumInDirection```: Find the extremum com position that is in robust equilibrium in the specified direction. All these problems boil down to solving Linear Programs. Different formulations are implemented and tested in ```test_static_equilibrium```. -- GitLab