Klamp't
0.9.0
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Checks for static constraints for a robot at a given stance. More...
#include <ConstraintChecker.h>
Static Public Member Functions | |
static Real | ContactDistance (const RobotModel &robot, const Stance &stance) |
static bool | HasContact (const RobotModel &robot, const Stance &stance, Real maxDist) |
static bool | HasContactVelocity (const RobotModel &robot, const Stance &stance, Real maxErr) |
static bool | HasJointLimits (const RobotModel &robot) |
static bool | HasVelocityLimits (const RobotModel &robot) |
static bool | HasSupportPolygon (const RobotModel &robot, const Stance &stance, const Vector3 &gravity, int numFCEdges=4) |
static bool | HasSupportPolygon_Robust (const RobotModel &robot, const Stance &stance, const Vector3 &gravity, Real robustnessFactor, int numFCEdges=4) |
static bool | HasEnvCollision (RobotModel &robot, TerrainModel &env) |
static bool | HasEnvCollision (RobotModel &robot, TerrainModel &env, const Stance &stance, const vector< int > &ignoreList) |
static bool | HasEnvCollision (RobotModel &robot, TerrainModel &env, const vector< IKGoal > &fixedLinks, const vector< int > &ignoreList) |
static bool | HasEnvCollision (RobotModel &robot, TerrainModel &env, const vector< IKGoal > &fixedLinks) |
static bool | HasSelfCollision (RobotModel &robot) |
static bool | HasTorqueLimits (RobotModel &robot, const Stance &stance, const Vector3 &gravity, int numFCEdges=4) |
Checks for static constraints for a robot at a given stance.