Slightly more sophisticated than a Stance, a Grasp allows some of the robot's degrees of freedom to be fixed. More...

#include <Grasp.h>

Public Member Functions
size_t	NumConstraints () const
	Returns the number of constraints touching the object.

bool	IsSimple () const
	A grasp is simple if it's a rigid attachment to a single robot link.

void	Add (const Grasp &grasp)

void	SetHold (const Hold &h)

void	SetStance (const Stance &h)

void	GetHold (Hold &h) const

void	GetStance (Stance &s) const

void	GetContactFormation (ContactFormation &s) const

void	Transform (const RigidTransform &T)

void	SetFixed (Vector &q) const

bool	Load (TiXmlElement *e)

bool	Save (TiXmlElement *e)

Public Attributes
int	objectIndex
	index of the robot and object – object may be -1

int	robotIndex

vector< IKGoal >	constraints
	describes constraints on robot configuration relative to object

vector< Real >	fixedValues

vector< int >	fixedDofs

vector< ContactPoint >	contacts
	optional: describes contact state

vector< int >	contactLinks

vector< Vector3 >	forces

Detailed Description

Slightly more sophisticated than a Stance, a Grasp allows some of the robot's degrees of freedom to be fixed.

The documentation for this class was generated from the following file:

Public Member Functions