Template Function pinocchio::reachableWorkspaceHull

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType>
void pinocchio::reachableWorkspaceHull(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const Eigen::MatrixBase<ConfigVectorType> &q0, const double time_horizon, const int frame_id, ReachableSetResults &res, const ReachableSetParams &params = ReachableSetParams())

Computes the convex Hull 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

  • res[out] Results of algorithm