Template Function pinocchio::reachableWorkspace
Defined in File reachable-workspace.hxx
Function Documentation
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template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType>
void pinocchio::reachableWorkspace(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const Eigen::MatrixBase<ConfigVectorType> &q0, const double time_horizon, const int frame_id, Eigen::MatrixXd &vertex, const ReachableSetParams ¶ms = ReachableSetParams()) Computes the reachable workspace on a fixed time horizon. For more information, please see https://gitlab.inria.fr/auctus-team/people/antunskuric/pycapacity.
- Template Parameters:
JointCollection – Collection of Joint types.
ConfigVectorType – Type of the joint configuration vector.
- Parameters:
model – [in] The model structure of the rigid body system.
q – [in] The initial joint configuration vector (dim model.nq).
frame_id – [in] Index of the frame for which the workspace should be computed.
time_horizon – [in] time horizon for which the polytope will be computed (in seconds)
params – [in] parameters of the algorithm
points – [out] inside of the reachable workspace