A single contact between the robot and the environment.
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#include <Hold.h>

int  link 

vector< ContactPoint >  contacts 

IKGoal  ikConstraint 

A single contact between the robot and the environment.
Consists of one or more contact points, along with the relative position of the robot link with the environment. Can be considered a "finalized" version of a ContactFeatureMapping, where the actual contact interface has been determined.
 See also
 ContactPoint

ContactFeatureMapping
void Hold::SetupAxisIKConstraint 
( 
const Vector3 & 
localPos0, 


const Vector3 & 
axis, 


const Vector3 & 
axis_w 

) 
 
Given the current set of contact points, the IK constraint is defined by matching the local position of the 0'th contact point and the local axis to the world axis (axis_w is usually parallel to (contacts[1].xcontacts[0].x)
 Parameters

localPos0  The local position of the 0'th contact point 
axis  The local rotation axis 
axis_w  The world rotation axis 
void Hold::SetupFixedIKConstraint 
( 
const Vector3 & 
localPos0, 


const Matrix3 & 
rot 

) 
 
Given the current set of contact points, the IK constraint is defined by the local position of the 0'th contact point and the localtoworld rotation of the constrained link.
 Parameters

localPos0  The local position of the 0'th contact point 
rot  The link's fixed rotation 
void Hold::SetupIKConstraint 
( 
const Vector3 & 
localPos0, 


const Vector3 & 
rot 

) 
 
Given the current set of contact points, the IK constraint is defined by the local position of the 0'th contact point and the localtoworld rotation of the constrained link. If 1 contact point, it's a free rotation about that point 2, it's a constrained rotation around that axis 3 or more, both position/rotation are constrained.
 Parameters

localPos0  The local position of the 0'th contact point 
rot  A moment rotation that represents the link's desired rotation. Ignored if there is only 1 contact point. 
void Hold::SetupPointIKConstraint 
( 
const Vector3 & 
localPos0  ) 

Given the current set of contact points, the IK constraint is defined by matching the local position of the 0'th contact point.
 Parameters

localPos0  The local position of the 0'th contact point 
The documentation for this struct was generated from the following file: