5 #include <KrisLibrary/math3d/Plane3D.h> 6 #include <KrisLibrary/math/matrix.h> 22 typedef map<int,Hold>::iterator iterator;
23 typedef map<int,Hold>::const_iterator const_iterator;
25 void insert(
const Hold& h) { operator[](h.link)=h; }
26 bool contains(
int link)
const {
return find(link)!=end(); }
27 bool remove(
int link);
34 bool CopyStance(
const vector<int>& indices,
const vector<Hold>& holds,
Stance& s);
59 istream& operator >> (istream& in,
Stance& stance);
60 ostream& operator << (ostream& out,
const Stance& stance);
62 int NumContactPoints(
const Stance& s);
63 void GetContactPoints(
const Stance& s,vector<ContactPoint>& cps);
64 const ContactPoint& GetContactPoint(
const Stance& s,
int i);
65 ContactPoint& GetContactPoint(
Stance& s,
int i);
66 Vector3 GetCentroid(
const Stance& s,Real L=Zero);
67 Real GetStdDev(
const Stance& s);
68 Real GetStdDev(
const Stance& s,
const Vector3& c);
69 void GetPlaneFit(
const Stance& s,Plane3D& p);
70 void GetPlaneFit(
const Stance& s,
const Vector3& c,Plane3D& p);
A collection of holds.
Definition: Stance.h:20
A single contact between the robot and the environment.
Definition: Hold.h:28
Structures defining the finalized contacts used in stances.
Definition: ContactDistance.h:6