4 #include <Klampt/Contact/Stance.h> 5 #include <KrisLibrary/robotics/Stability.h> 6 #include <KrisLibrary/GLdraw/GLColor.h> 20 void Draw(
const Geometry::UnboundedPolytope2D& _poly) { poly=&_poly; Draw(); }
22 const Geometry::UnboundedPolytope2D* poly;
23 GLDraw::GLColor color;
35 void DrawForces(
const Vector& f,Real scale=One);
36 void DrawHolds(
const Stance& _s)
37 { s=&_s; DrawHolds(); }
38 void DrawForces(
const Stance& _s,
const Vector& f,Real scale=One)
39 { s=&_s; DrawForces(f,scale); }
43 GLDraw::GLColor forceColor;
Displays a stance using OpenGL.
Definition: ViewStance.h:31
A collection of holds.
Definition: Stance.h:20
Displays a support polygon using OpenGL.
Definition: ViewStance.h:16
Displays a hold using OpenGL.
Definition: ViewHold.h:32
Definition: ContactDistance.h:6