Class convex_hull

• Defined in File convex_hull_utils.h

Class Documentation

class convex_hull

Public Functions

convex_hull()

~convex_hull()

bool getSupportPolygonPoints(std::list<Eigen::Vector3d> &points, const std::list<std::string> links_in_contact, const XBot::ModelInterface &model, const std::string referenceFrame = "COM")

getSupportPolygonPoints given a vector of reference frames that we consider in contact wit the ground, it return a list of points express in the specified frame referenceFrame.

By default it is the frame COM, oriented like the world frame and with origin on the CoM Notice the polygon points are not projected on the support surface.

Parameters

• points – a list of points in the same reference frame

• referenceFrame – the string defining the reference frame in which to express the support polygon points. The possibilities are:

  • ”COM”

  • ”world”

  • {linkName}

Returns

false if the vector of reference frames is empty. True otherwise.

bool getConvexHull(const std::list<Eigen::Vector3d> &points, std::vector<Eigen::Vector3d> &ch)

getConvexHull returns a minimum representation of the convex hull

Parameters

• points – a list of points representing the convex hull

• ch – a list of points which are the vertices of the convex hull

Returns

true on success