ContactFeatureMapping.h

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#ifndef CONTACT_FEATURE_MAPPING_H
#define CONTACT_FEATURE_MAPPING_H

#include "Hold.h"
#include "ContactFeature.h"


namespace Klampt {

struct ContactFeatureMapping
{
  ContactFeatureMapping();

  void GetHold(Hold& h) const;

  void GetLocalFrame(RigidTransform& T) const;

  ContactFeature feature;
  ContactPoint contact;
  Real angle;
  bool fixedWheel;
  Real wheelRoll;
  Vector3 localOffset;
};

bool LoadContactFeatureMapping(istream& in,const vector<ContactFeature>& features,ContactFeatureMapping& m);
void SaveContactFeatureMapping(ostream& out,ContactFeatureMapping& m);

bool FeatureMappingFromHold(const Hold& h,const vector<ContactFeature>& features, ContactFeatureMapping& m);

Real BestFeatureMappingAngle(const ContactFeatureMapping& feature,const Matrix3& Rdes);

void SetFeatureMappingOrientation(ContactFeatureMapping& feature,const Matrix3& Rdes);

} //namespace Klampt

#endif