Class ContactPatchSimplifierMaxArea

• Defined in File contact_patch_simplifier.h

Class Documentation

class ContactPatchSimplifierMaxArea

Dynamic-programming simplifier that preserves the largest possible polygon area with target_vertices points.

Public Functions

ContactPatchSimplifierMaxArea() = default

void compute(const ContactPatch &patch_in, std::size_t target_vertices, ContactPatch &patch_out)

Compute the maximum-area subset of patch_in with target_vertices points and store it in patch_out.

void simplify(ContactPatch &patch, std::size_t target_vertices)

In-place simplification helper that replaces the polygon with the max-area subset.