Template Function pinocchio::internal::computeVertex
Defined in File reachable-workspace.hxx
Function Documentation
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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 ¶ms = 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