Contact

Files
file	ContactFeature.h
	Defines the ContactFeature structures and some routines for creating holds from features.
file	ContactFeatureMapping.h
	Defines the ContactFeatureMapping structure, load/save functions.
file	Hold.h
	Structures defining the finalized contacts used in stances.

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...
struct	Klampt::ContactFeatureMapping
	A mapping from a ContactFeature to a point on the environment. More...
class	Klampt::Grasp
	Slightly more sophisticated than a Stance, a Grasp allows some of the robot's degrees of freedom to be fixed. More...
struct	Klampt::Hold
	A single contact between the robot and the environment. More...
struct	Klampt::Stance
	A collection of holds. 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.
bool	Klampt::LoadContactFeatureMapping (istream &in, const vector< ContactFeature > &features, ContactFeatureMapping &m)
void	Klampt::SaveContactFeatureMapping (ostream &out, ContactFeatureMapping &m)
bool	Klampt::FeatureMappingFromHold (const Hold &h, const vector< ContactFeature > &features, ContactFeatureMapping &m)
	Constructs a contact feature mapping from a hold by trying to match contact features to the hold. More...
Real	Klampt::BestFeatureMappingAngle (const ContactFeatureMapping &feature, const Matrix3 &Rdes)
	Returns the angle parameter that makes the feature map to Rdes.
void	Klampt::SetFeatureMappingOrientation (ContactFeatureMapping &feature, const Matrix3 &Rdes)
	Sets the angle parameters that make the feature map to Rdes.
bool	Klampt::operator== (const Hold &a, const Hold &b)
bool	Klampt::operator< (const Hold &a, const Hold &b)
bool	Klampt::operator> (const Hold &a, const Hold &b)
ostream &	Klampt::operator<< (ostream &, const Hold &)
istream &	Klampt::operator>> (istream &, Hold &)
const Hold &	Klampt::DifferingHold (const Stance &a, const Stance &b)
	If b = a union {h}, returns h. More...
bool	Klampt::IsSimilarStance (const Stance &a, const Stance &b)
	Returns true if a and b share the same links.
bool	Klampt::IsSubset (const Stance &a, const Stance &b)
	Returns true if a is a subset of b.
void	Klampt::GetDifference (const Stance &a, const Stance &b, vector< Hold > &d)
	Returns the difference d = a-b.
void	Klampt::ToContactFormation (const Stance &stance, ContactFormation &contacts)
void	Klampt::ToIKProblem (const Stance &stance, vector< IKGoal > &constraints)
void	Klampt::GetFlatContacts (RobotWithGeometry &robot, Real tol, ContactFormation &contacts)
	Produces a list of contacts as though the robot were standing on a plane. More...
void	Klampt::GetFlatContacts (RobotWithGeometry &robot, int link, Real tol, vector< ContactPoint > &contacts)
	Produces a list of contacts as though the link were resting on a plane. More...
void	Klampt::GetFlatStance (RobotWithGeometry &robot, Real tol, Stance &s, Real kFriction=0)
	Produces a stance as though the robot were standing on a plane. More...
void	Klampt::GetNearbyContacts (RobotWithGeometry &robot, WorldModel &world, Real tol, ContactFormation &contacts)
	Produces a list of contacts for all points on the robot within tol of the other objects in world. More...
void	Klampt::GetNearbyContacts (RobotWithGeometry &robot, int link, WorldModel &world, Real tol, vector< ContactPoint > &contacts)
	Produces a list of contacts for all points on the link within tol of other objects in world. More...
void	Klampt::LocalContactsToHold (const vector< ContactPoint > &contacts, int link, const RobotKinematics3D &robot, Hold &hold)
	For a set of local contacts on a link, returns a hold for the given robot. Assumes the robot is making those contacts in its current config.
void	Klampt::LocalContactsToStance (const ContactFormation &contacts, const RobotKinematics3D &robot, Stance &stance)
	For a local contact formation, returns a stance for the given robot. Assumes the robot is making those contacts in its current config.
void	Klampt::ClusterContacts (vector< ContactPoint > &cps, int numClusters, Real clusterNormalScale=0.1, Real clusterFrictionScale=0.1)
	Reduces a complex set of contacts to a set of representative clusters through kmeans clustering.
void	Klampt::CleanupContacts (vector< ContactPoint > &cp, Real tol)
	Merges contact points within tol distance of each other.
void	Klampt::CHContacts (vector< ContactPoint > &cp, Real ntol, Real xtol)
	Removes contact points in the convex hull interior of other cp's.
int	Klampt::ClosestContact (const ContactPoint &p, const Meshing::TriMesh &mesh, ContactPoint &closest, Real normalScale=0.1)
	Finds the closest point/normal on the mesh to p. Metric distance is sqrt(||p.x - x||^2 + normalScale*||p.n - n||^2) where x and n are the points on the mesh. Returns the triangle.

Detailed Description

Contact points, holds, stances, and grasps

Typedef Documentation

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

A smart pointer to a ContactFeatureBase – use GetType() to cast to the right subtype.

Function Documentation

const Hold& Klampt::DifferingHold	(	const Stance &	a,
		const Stance &	b
	)

If b = a union {h}, returns h.

Unexpected results may occur if the precondition b = a union {h} is not fulfilled.

Vector3 Klampt::FeatureContactNormal

(

const ContactFeatureBase *

f

)

Returns the local normal that is mapped to the environment contact normal. The zero vector is returned if there is no such normal defined (e.g. point and edge features)

bool Klampt::FeatureMappingFromHold	(	const Hold &	h,
		const vector< ContactFeature > &	features,
		ContactFeatureMapping &	m
	)

Constructs a contact feature mapping from a hold by trying to match contact features to the hold.

The matching criterion is that the hold IK constraint matches the contact feature's, and the hold contact points are approximately within in the contact feature. Returns true if successful.

void Klampt::GetFlatContacts	(	RobotWithGeometry &	robot,
		Real	tol,
		ContactFormation &	contacts
	)

Produces a list of contacts as though the robot were standing on a plane.

tol is the tolerance with which minimum-distance points are generated. All contacts are given zero friction and in the local frame of the robot's links.

void Klampt::GetFlatContacts	(	RobotWithGeometry &	robot,
		int	link,
		Real	tol,
		vector< ContactPoint > &	contacts
	)

Produces a list of contacts as though the link were resting on a plane.

tol is the tolerance with which minimum-distance points are generated. All contacts are given zero friction and in the local frame of the link.

void Klampt::GetFlatStance	(	RobotWithGeometry &	robot,
		Real	tol,
		Stance &	s,
		Real	kFriction = 0
	)

Produces a stance as though the robot were standing on a plane.

tol is the tolerance with which minimum-distance points are generated. All contacts are given friction kFriction.

void Klampt::GetNearbyContacts	(	RobotWithGeometry &	robot,
		WorldModel &	world,
		Real	tol,
		ContactFormation &	contacts
	)

Produces a list of contacts for all points on the robot within tol of the other objects in world.

tol is the tolerance with which minimum-distance points are generated. All contacts are given zero friction and in the local frame of the robot's links.

void Klampt::GetNearbyContacts	(	RobotWithGeometry &	robot,
		int	link,
		WorldModel &	world,
		Real	tol,
		vector< ContactPoint > &	contacts
	)

Produces a list of contacts for all points on the link within tol of other objects in world.

tol is the tolerance with which minimum-distance points are generated. All contacts are given zero friction and in the local frame of the link.

void Klampt::ToContactFormation	(	const Stance &	stance,
		ContactFormation &	contacts
	)

converts a stance to a contact formation

void Klampt::ToIKProblem	(	const Stance &	stance,
		vector< IKGoal > &	constraints
	)

extracts the IK goals from the stance