Python compute_polytope_halfspaces Examples

Example #1

File: multi_contact_walking.py Project: atomutek/pymanoid

 def compute_dual_hrep(self):
     """Compute halfspaces of the dual cones."""
     for (stance_id, cone_vertices) in enumerate(self.dual_vrep):
         B, c = compute_polytope_halfspaces(cone_vertices)
         self.dual_hrep.append((B, c))

Example #2

File: multi_contact_walking.py Project: atomutek/pymanoid

 def compute_primal_hrep(self):
     """Compute halfspaces of the primal tube."""
     try:
         self.full_hrep = (compute_polytope_halfspaces(self.full_vrep))
     except RuntimeError as e:
         raise Exception("Could not compute primal hrep: %s" % str(e))