A single contact between the robot and the environment.
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#include <Hold.h>
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int | link |
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vector< ContactPoint > | contacts |
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IKGoal | ikConstraint |
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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
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ContactFeatureMapping
void Klampt::Hold::SetupAxisIKConstraint |
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const Vector3 & |
localPos0, |
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const Vector3 & |
axis, |
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const Vector3 & |
axis_w |
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) |
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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
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localPos0 | The local position of the 0'th contact point |
axis | The local rotation axis |
axis_w | The world rotation axis |
void Klampt::Hold::SetupFixedIKConstraint |
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const Vector3 & |
localPos0, |
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const Matrix3 & |
rot |
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) |
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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
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localPos0 | The local position of the 0'th contact point |
rot | The link's fixed rotation |
void Klampt::Hold::SetupIKConstraint |
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const Vector3 & |
localPos0, |
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const Vector3 & |
rot |
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) |
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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
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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 Klampt::Hold::SetupPointIKConstraint |
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const Vector3 & |
localPos0 | ) |
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Given the current set of contact points, the IK constraint is defined by matching the local position of the 0'th contact point.
- Parameters
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localPos0 | The local position of the 0'th contact point |
The documentation for this struct was generated from the following file: