def clip_footstep_to_avoid_collision(foot, is_left_support):
''' Clip the foot move to avoid collision with the other foot.
foot is an almath.Pose2D (x, y, theta position).
is_left_support must be set to True if the move is on the right leg
(the robot is supporting itself on the left leg).
'''
# Use ALMath method.
almath.avoidFootCollision(Params.foot_box_l, Params.foot_box_r, is_left_support, foot)
def clip_footstep_to_avoid_collision(foot, is_left_support):
''' Clip the foot move to avoid collision with the other foot.
foot is an almath.Pose2D (x, y, theta position).
is_left_support must be set to True if the move is on the right leg
(the robot is supporting itself on the left leg).
'''
# Use ALMath method.
almath.avoidFootCollision(Params.foot_box_l, Params.foot_box_r,
is_left_support, foot)
def clipFootStepToAvoidCollision(footMove, isLeftSupport):
''' Clip the foot move to avoid collision with the other foot.
footMove is an almath.Pose2D (x, y, theta position).
isLeftSupport must be set to True if the move is on the right leg
(the robot is supporting itself on the left leg).
'''
# Bounding boxes of NAO's feet.
rFootBox = [almath.Pose2D(0.11, 0.038, 0.0), # rFootBoxFL
almath.Pose2D(0.11, -0.050, 0.0), # rFootBoxFR
almath.Pose2D(-0.047, -0.050, 0.0), # rFootBoxRR
almath.Pose2D(-0.047, 0.038, 0.0)] # rFootBoxRL
lFootBox = [almath.Pose2D(0.11, 0.050, 0.0), # lFootBoxFL
almath.Pose2D(0.11, -0.038, 0.0), # lFootBoxFR
almath.Pose2D(-0.047, -0.038, 0.0), # lFootBoxRR
almath.Pose2D(-0.047, 0.050, 0.0)] # lFootBoxRL
# Use ALMath method.
almath.avoidFootCollision(lFootBox, rFootBox, isLeftSupport, footMove)
def clipFootStepToAvoidCollision(footMove, isLeftSupport):
""" Clip the foot move to avoid collision with the other foot.
footMove is an almath.Pose2D (x, y, theta position).
isLeftSupport must be set to True if the move is on the right leg
(the robot is supporting itself on the left leg).
"""
# Bounding boxes of NAO's feet.
rFootBox = [almath.Position2D(0.11, 0.038), # rFootBoxFL
almath.Position2D(0.11, -0.050), # rFootBoxFR
almath.Position2D(-0.047, -0.050), # rFootBoxRR
almath.Position2D(-0.047, 0.038)] # rFootBoxRL
lFootBox = [almath.Position2D(0.11, 0.050), # lFootBoxFL
almath.Position2D(0.11, -0.038), # lFootBoxFR
almath.Position2D(-0.047, -0.038), # lFootBoxRR
almath.Position2D(-0.047, 0.050)] # lFootBoxRL
# Use ALMath method.
almath.avoidFootCollision(lFootBox, rFootBox, isLeftSupport, footMove)
