1 #ifndef ROBOT_CONTACT_CSPACE_H 2 #define ROBOT_CONTACT_CSPACE_H 4 #include "RobotCSpace.h" 5 #include <Klampt/Modeling/GeneralizedRobot.h> 6 #include <Klampt/Contact/Stance.h> 7 #include <KrisLibrary/robotics/IK.h> 27 virtual void Sample(Config& q)
override;
28 virtual void SampleNeighborhood(
const Config& c,Real r,Config& q)
override;
29 virtual void Interpolate(
const Config& x,
const Config& y,Real u,Config& out)
override;
30 virtual EdgePlannerPtr PathChecker(
const Config& a,
const Config& b)
override;
31 virtual void Properties(PropertyMap&)
override;
33 void AddContact(
const IKGoal& goal);
34 void AddContact(
int link,
const Vector3& localPos,
const Vector3& worldPos);
35 void AddContact(
int link,
const vector<Vector3>& localPos,
const vector<Vector3>& worldPos);
36 void RemoveContact(
int link);
37 bool SolveContact(
int numIters=0,Real tol=0);
50 vector<IKGoal> contactIK;
52 double solveContactTime;
A cspace consisting of a single robot configuration in a WorldModel. Feasibility constraints are join...
Definition: RobotCSpace.h:103
A structure containing settings that should be used for collision detection, contact solving...
Definition: PlannerSettings.h:43
Definition: ContactDistance.h:6
The main world class containing multiple robots, objects, and static geometries (terrains). Lights and other viewport information may also be stored here.
Definition: World.h:24