SupportPolygon: Allow lazy stability index computation (without update)

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@781 042f3d55-54a8-47e9-b7fb-15903f145c44

VirtualRobot/IK/SupportPolygon.cpp

@@ -72,11 +72,13 @@ float SupportPolygon::getSquaredDistLine(Eigen::Vector2f &p, Eigen::Vector2f &pt
 }
 
 
-float SupportPolygon::getStabilityIndex(VirtualRobot::RobotNodeSetPtr rns)
+float SupportPolygon::getStabilityIndex(VirtualRobot::RobotNodeSetPtr rns, bool update)
 {
 	if (!rns)
 		return 0.0f;
-	updateSupportPolygon();
+
+    if (update)
+        updateSupportPolygon();
 
 	// check if com is outside support polygon
 	MathTools::ConvexHull2DPtr ch = getSupportPolygon2D();

VirtualRobot/IK/SupportPolygon.h

@@ -57,7 +57,7 @@ public:
 		1 means that the current 2D CoM lies at the center of the support polygon
 		0 means it is outside.
 	*/
-	float getStabilityIndex(RobotNodeSetPtr rns);
+    float getStabilityIndex(RobotNodeSetPtr rns, bool update=true);
 
     SceneObjectSetPtr getContactModels();