iDynTree::BoundingBoxProjectionConstraint class
#include <iDynTree/BoundingBoxHelpers.h>

Public functions

void setActive(const bool isActive): Set if the constraint is active or not.
auto isActive() -> bool: Get if the constraint is active or not.
auto getNrOfConstraints() -> size_t: Get the number of constraints (i.e.
auto buildBoundingBox(const iDynTree::Direction xAxisOfPlaneInWorld, const iDynTree::Direction yAxisOfPlaneInWorld, const iDynTree::Position originOfPlaneInWorld, const std::vector<Polygon>& supportPolygonsExpressedInSupportFrame, const std::vector<Transform>& absoluteFrame_X_supportFrame) -> bool: Build the projected bounding box.
auto project(iDynTree::Position& posIn3dInAbsoluteFrame) -> Vector2: Project a point in the plane of the bounding box.
void setProjectionAlongDirection(Vector3 direction)
auto projectAlongDirection(iDynTree::Position& posIn3dInAbsoluteFrame) -> Vector2

Polygon2D projectedBoundingBox: bounding box expressed in the 2D project constraint plane.
MatrixDynSize A: A constraint matrix, such that Ax <= b iff the com projection x is in the bounding box.
VectorDynSize b: b vector, such that Ax <= b iff the com projection x is in the bounding box.
Matrix2x3 P: Projection matrix P, Note that x = P*(c-o), where x is the projection and c is the 3d COM .
Matrix2x3 Pdirection: Projection matrix 'Pdirection' defined by a given direction.
MatrixDynSize AtimesP: Matrix obtained multiplying the matrix A for the matrix P.
iDynTree::Position o: Plane offset o Note that x = P*(c-o), where x is the projection and c is the 3d COM .
std::vector<int> supportFrameIndices: List of support frames.
std::vector<Transform> absoluteFrame_X_supportFrame: List of absolue_X_supportFrames.

Get if the constraint is active or not.

Returns	true if the constraint is active, false otherwise.

Get the number of constraints (i.e.

Returns	the number of constraints.

the number rows of the matrix A).

Build the projected bounding box.

Parameters
xAxisOfPlaneInWorld
yAxisOfPlaneInWorld
originOfPlaneInWorld
supportPolygonsExpressedInSupportFrame	Vector of the support polygons, expressed in the support frames.
absoluteFrame_X_supportFrame	Vector of the transform between each support frame and the absolute frame.
Returns	true if all went well, false otherwise.

Project a point in the plane of the bounding box.

The point is expressed in the absolute frame of the constriant.

Parameters
direction	vector along which we want to project a point

Set the projection matrix 'Pdirection' given a desired projection direction.

Parameters
posIn3dInAbsoluteFrame	a point we want to project

Project a point along a direction defined by the projection matrix 'Pdirection'

bounding box expressed in the 2D project constraint plane.

This is computed by the buildBoundingBox method.

Projection matrix 'Pdirection' defined by a given direction.

The projection 'x' of a 3D point 'c' along a given vector is obtained as: x = Pdirection*(c-o).