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Humanoid Path Planner
hpp-centroidal-dynamics
Commits
aa592a5b
Commit
aa592a5b
authored
8 years ago
by
Pierre Fernbach
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add mutator for m_G_centr
parent
86b1c65d
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include/centroidal-dynamics-lib/centroidal_dynamics.hh
+2
-0
2 additions, 0 deletions
include/centroidal-dynamics-lib/centroidal_dynamics.hh
src/centroidal_dynamics.cpp
+2
-17
2 additions, 17 deletions
src/centroidal_dynamics.cpp
with
4 additions
and
17 deletions
include/centroidal-dynamics-lib/centroidal_dynamics.hh
+
2
−
0
View file @
aa592a5b
...
...
@@ -147,6 +147,8 @@ public:
bool
setNewContacts
(
const
MatrixX3ColMajor
&
contactPoints
,
const
MatrixX3ColMajor
&
contactNormals
,
const
double
frictionCoefficient
,
const
EquilibriumAlgorithm
alg
);
void
setG
(
Cref_matrix6X
G
){
m_G_centr
=
G
;}
/**
* @brief Compute a measure of the robustness of the equilibrium of the specified com position.
* This amounts to solving the following LP:
...
...
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src/centroidal_dynamics.cpp
+
2
−
17
View file @
aa592a5b
...
...
@@ -325,21 +325,6 @@ LP_status Equilibrium::computeEquilibriumRobustness(Cref_vector3 com, Cref_vecto
}
LP_status
StaticEquilibrium
::
computeEquilibriumRobustness
(
Cref_vector3
com
,
Cref_vector3
acc
,
double
&
robustness
){
// Take the acceleration in account in D and d :
Matrix63
old_D
=
m_D
;
Vector6
old_d
=
m_d
;
m_D
.
block
<
3
,
3
>
(
3
,
0
)
=
crossMatrix
(
-
m_mass
*
(
m_gravity
-
acc
));
m_d
.
head
<
3
>
()
=
m_mass
*
(
m_gravity
-
acc
);
// compute equilibrium robustness with the new D and d
LP_status
status
=
computeEquilibriumRobustness
(
com
,
robustness
);
// Switch back to the original values of D and d
m_D
=
old_D
;
m_d
=
old_d
;
return
status
;
}
LP_status
Equilibrium
::
checkRobustEquilibrium
(
Cref_vector3
com
,
bool
&
equilibrium
,
double
e_max
)
{
if
(
m_G_centr
.
cols
()
==
0
)
...
...
@@ -601,7 +586,7 @@ double Equilibrium::convert_emax_to_b0(double emax)
LP_status
Static
Equilibrium
::
findMaximumAcceleration
(
Cref_matrix63
H
,
Cref_vector6
h
,
Cref_vector3
v
,
double
&
alpha0
){
LP_status
Equilibrium
::
findMaximumAcceleration
(
Cref_matrix63
H
,
Cref_vector6
h
,
Cref_vector3
v
,
double
&
alpha0
){
int
m
=
(
int
)
m_G_centr
.
cols
()
-
1
;
// 4* number of contacts
VectorX
b_a0
(
m
+
1
);
VectorX
c
=
VectorX
::
Zero
(
m
+
1
);
...
...
@@ -633,7 +618,7 @@ LP_status StaticEquilibrium::findMaximumAcceleration(Cref_matrix63 H, Cref_vecto
}
bool
Static
Equilibrium
::
checkAdmissibleAcceleration
(
Cref_matrix63
H
,
Cref_vector6
h
,
Cref_vector3
a
){
bool
Equilibrium
::
checkAdmissibleAcceleration
(
Cref_matrix63
H
,
Cref_vector6
h
,
Cref_vector3
a
){
int
m
=
(
int
)
m_G_centr
.
cols
();
// number of contact * generator per contacts
VectorX
b
(
m
);
VectorX
c
=
VectorX
::
Zero
(
m
);
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