TestStability.h

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/*
 * hrl_kinematics - a kinematics library for humanoid robots based on KDL
 *
 * Copyright 2011-2012 Armin Hornung, University of Freiburg
 * License: BSD
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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#ifndef HRL_KINEMATICS_TESTSTABILITY_H_
#define HRL_KINEMATICS_TESTSTABILITY_H_

#include <hrl_kinematics/Kinematics.h>

#include <geometric_shapes/shape_operations.h>
#include <geometry_msgs/PolygonStamped.h>

#include <vector>

namespace hrl_kinematics {

class TestStability : public Kinematics{
public:

  TestStability(std::string rfoot_mesh_link_name = "RAnkleRoll_link", 
                std::string root_link_name = "base_link", std::string rfoot_link_name = "r_sole", std::string lfoot_link_name = "l_sole",
                const boost::shared_ptr<const urdf::ModelInterface>& urdf_model = boost::shared_ptr<const urdf::ModelInterface>(),
                double foot_polygon_scale = 1.0);

  virtual ~TestStability();

  bool isPoseStable(const std::map<std::string, double>& joint_positions, FootSupport support_mode);

  bool isPoseStable(const std::map<std::string, double>& joint_positions, FootSupport support_mode, const tf::Vector3& normal_vector);

  void scaleConvexHull(double scale);

  geometry_msgs::PolygonStamped getSupportPolygon() const;
  visualization_msgs::Marker getCOMMarker() const;
  tf::Point getCOM() const {return p_com_;}

protected:
  void initFootPolygon(double scale=1.0);
  bool loadFootPolygon();
  std::vector<tf::Point> convexHull(const std::vector<tf::Point>& points) const;
  bool pointInConvexHull(const tf::Point& point, const std::vector<tf::Point>& polygon) const;
  std::vector<tf::Point> foot_support_polygon_right_;
  std::vector<tf::Point> foot_support_polygon_left_;

  tf::Point p_com_;
  std::vector<tf::Point> support_polygon_;
  tf::Transform tf_to_support_;
  std::string rfoot_mesh_link_name_;

  //Convex Hull scaling factor
  double foot_polygon_scale_;
};

// Create boost pointers for this class
typedef boost::shared_ptr<TestStability> TestStabilityPtr;
typedef boost::shared_ptr<const TestStability> TestStabilityConstPtr;

} /* namespace hrl_kinematics */
#endif