Template Function pinocchio::internal::computeVertex

Function Documentation

template<typename Scalar, int Options, template<typename, int> class JointCollectionTpl, typename ConfigVectorType, class FilterFunction>
void pinocchio::internal::computeVertex(const ModelTpl<Scalar, Options, JointCollectionTpl> &model, const Eigen::MatrixBase<ConfigVectorType> &q0, const double time_horizon, const int frame_id, FilterFunction config_filter, Eigen::MatrixXd &vertex, const ReachableSetParams &params = ReachableSetParams())

Samples points to create the reachable workspace that will respect mechanical limits of the model as well as the time horizon.

Template Parameters:
  • JointCollection – Collection of Joint types.

  • ConfigVectorType – Type of the joint configuration vector.

  • FilterFunction – Function template use to filter points in the workspace. Prototype : f(model, data) -> bool

Parameters:
  • model[in] The model structure of the rigid body system.

  • geom_model[in] Geometry model associated with the model

  • q[in] The initial joint configuration vector (dim model.nq).

  • time_horizon[in] time horizon for which the polytope will be computed (in seconds)

  • frame_id[in] Index of the frame for which the workspace should be computed.

  • params[in] parameters of the algorithm

  • vertex[out] Results of algorithm