class
ConvexHullHelperConvexHullHelper is an helper class that simplifies the building of a convex hull given a set of points that belongs to .
The helper computes the vertex enumeration of the convex hull. Then it converts the V-representation of the convex polyhedron in the H-representation, i.e. it performs the convex-hull computation. The class can be used to retrieve the matrices and vectors that describes the Half space representation of the form:
Where is a m-vector and A is a m x n real matrix.
Constructors, destructors, conversion operators
- ConvexHullHelper()
- Constructor.
- ~ConvexHullHelper()
- Destructor.
Public functions
- auto buildConvexHull(Eigen::Ref<const Eigen::MatrixXd> points) -> bool
- Given a set of points in the function build the convex hull.
- auto getA() const -> Eigen::Ref<const Eigen::MatrixXd>
- Return the constraint matrix, such that iff the point is in the convex hull.
- auto getB() const -> Eigen::Ref<const Eigen::VectorXd>
- Return the constraint vector, such that iff the point is in the convex hull.
- auto doesPointBelongToConvexHull(Eigen::Ref<const Eigen::VectorXd> point) const -> bool
- Check if a point belong to the convex hull (The frontier of the set is also included).
Function documentation
bool BipedalLocomotion:: Planners:: ConvexHullHelper:: buildConvexHull(Eigen::Ref<const Eigen::MatrixXd> points)
Given a set of points in the function build the convex hull.
Parameters | |
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points | a matrix of the points that describes the convex hull. Each point is stored as column of the matrix. |
Returns | true/false in case of success/failure. |
Eigen::Ref<const Eigen::MatrixXd> BipedalLocomotion:: Planners:: ConvexHullHelper:: getA() const
Return the constraint matrix, such that iff the point is in the convex hull.
Returns | the constraint matrix. |
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Eigen::Ref<const Eigen::VectorXd> BipedalLocomotion:: Planners:: ConvexHullHelper:: getB() const
Return the constraint vector, such that iff the point is in the convex hull.
Returns | the constraint vector. |
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bool BipedalLocomotion:: Planners:: ConvexHullHelper:: doesPointBelongToConvexHull(Eigen::Ref<const Eigen::VectorXd> point) const
Check if a point belong to the convex hull (The frontier of the set is also included).
Returns | true if the point belongs to the convex hull false otherwise. |
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