Klamp't
0.8.1
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A mapping from a ContactFeature to a point on the environment. More...
#include <ContactFeatureMapping.h>
Public Member Functions | |
void | GetHold (Hold &h) const |
void | GetLocalFrame (RigidTransform &T) const |
Public Attributes | |
ContactFeature | feature |
ContactPoint | contact |
Real | angle |
bool | fixedWheel |
Real | wheelRoll |
for fixed wheels, this is the roll angle at which the wheel is fixed | |
Vector3 | localOffset |
A mapping from a ContactFeature to a point on the environment.
void ContactFeatureMapping::GetHold | ( | Hold & | h | ) | const |
Returns the hold that maps the feature to the contact point, with the local orientation given in angle (and wheelRoll)
void ContactFeatureMapping::GetLocalFrame | ( | RigidTransform & | T | ) | const |
Returns a frame that maps the link to the world position. Used for drawing functions. For non-fixed holds, returns one of the many possible transforms.
Real ContactFeatureMapping::angle |
for non-point holds, this describes the orientation of the hold relative to the surface.
bool ContactFeatureMapping::fixedWheel |
for wheel holds, this marks whether to fix the roll of the wheel or not.
Vector3 ContactFeatureMapping::localOffset |
for face and edge contacts, this is the amount that the contact point on the robot is offset from the contact region centroid