ContactFeature.h File Reference

Defines the ContactFeature structures and some routines for creating holds from features. More...

#include "Hold.h"
#include <KrisLibrary/math3d/Polygon3D.h>
#include <KrisLibrary/math3d/geometry3d.h>
#include <memory>

Go to the source code of this file.

Classes
struct	Klampt::ContactFeatureBase
	A feature on the robot that can be used for contact. More...
struct	Klampt::PointContactFeature
	A single point contact feature. More...
struct	Klampt::EdgeContactFeature
	An edge contact feature. More...
struct	Klampt::FaceContactFeature
	A (planar) face contact feature. More...
struct	Klampt::WheelContactFeature
	A wheel contact feature. More...
struct	Klampt::FacesContactFeature
	A contact feature consisting of multiple faces. More...

Typedefs
typedef std::shared_ptr< ContactFeatureBase >	Klampt::ContactFeature

Functions
bool	Klampt::LoadContactFeatures (const char *fn, vector< ContactFeature > &ccs)
bool	Klampt::SaveContactFeatures (const char *fn, const vector< ContactFeature > &ccs)
void	Klampt::SampleHold (const Vector3 &x, const Vector3 &n, const ContactFeatureBase *, Hold &)
void	Klampt::SampleHold (const Vector3 &x, const Vector3 &n, const vector< ContactFeature > &, Hold &)
void	Klampt::SampleHold (Triangle3DSampler &smp, const ContactFeatureBase *, Hold &)
void	Klampt::SampleHold (Triangle3DSampler &smp, const vector< ContactFeature > &, Hold &)
void	Klampt::HoldFromTransform (const ContactFeatureBase *f, const RigidTransform &T, Hold &h)
	Computes a hold that transforms the contact feature by T.
bool	Klampt::FeatureRayIntersection (const ContactFeatureBase *f, const Ray3D &ray, Real tol=0)
	Returns true if the ray intersects the contact feature.
Vector3	Klampt::FeatureContactPoint (const ContactFeatureBase *f)
	Returns the centroid of the feature contact region.
Vector3	Klampt::FeatureContactNormal (const ContactFeatureBase *f)
Vector3	Klampt::SampleFeatureContactPoint (const ContactFeatureBase *f)
	Uniformly samples a contact point in the feature contact region.

Detailed Description

Defines the ContactFeature structures and some routines for creating holds from features.