4 #include <KrisLibrary/robotics/Contact.h> 5 #include <KrisLibrary/robotics/IK.h> 31 void Transform(
const RigidTransform& T);
36 for(
size_t i=0;i<contacts.size();i++)
38 c/=(Real)contacts.size();
42 inline void GetNormal(Vector3& n)
const 45 for(
size_t j=0;j<contacts.size();j++)
52 inline Vector3 GetNormal()
const { Vector3 n; GetNormal(n);
return n; }
66 void SetupIKConstraint(
const Vector3& localPos0,
const Vector3& rot);
75 void SetupFixedIKConstraint(
const Vector3& localPos0,
const Matrix3& rot);
82 void SetupPointIKConstraint(
const Vector3& localPos0);
93 void SetupAxisIKConstraint(
const Vector3& localPos0,
const Vector3& axis,
const Vector3& axis_w);
96 vector<ContactPoint> contacts;
100 bool operator == (
const Hold& a,
const Hold& b);
101 bool operator < (
const Hold& a,
const Hold& b);
102 bool operator > (
const Hold& a,
const Hold& b);
103 ostream& operator << (ostream&,
const Hold&);
104 istream& operator >> (istream&,
Hold&);
Vector3 GetCentroid() const
Same as above.
Definition: Hold.h:51
void GetCentroid(Vector3 &c) const
Returns the centroid of the contacts.
Definition: Hold.h:33
A single contact between the robot and the environment.
Definition: Hold.h:28
Definition: ContactDistance.h:6