Hold Struct Reference

A single contact between the robot and the environment. More...

#include <Hold.h>

Public Member Functions
void	Transform (const RigidTransform &T)
	Transforms the hold by T.
void	GetCentroid (Vector3 &c) const
	Returns the centroid of the contacts.
void	GetNormal (Vector3 &n) const
Vector3	GetCentroid () const
	Same as above.
Vector3	GetNormal () const
void	SetupIKConstraint (const Vector3 &localPos0, const Vector3 &rot)
void	SetupFixedIKConstraint (const Vector3 &localPos0, const Matrix3 &rot)
void	SetupPointIKConstraint (const Vector3 &localPos0)
void	SetupAxisIKConstraint (const Vector3 &localPos0, const Vector3 &axis, const Vector3 &axis_w)

Public Attributes
int	link
vector< ContactPoint >	contacts
IKGoal	ikConstraint

Detailed Description

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

Member Function Documentation

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].x-contacts[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 local-to-world 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 local-to-world 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

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

• Hold.h