1 #ifndef CONSTRAINT_CHECKER_H 2 #define CONSTRAINT_CHECKER_H 4 #include <Klampt/Modeling/Robot.h> 5 #include <Klampt/Modeling/Terrain.h> 6 #include <Klampt/Contact/Stance.h> 13 static Real ContactDistance(
const Robot& robot,
const Stance& stance);
14 static bool HasContact(
const Robot& robot,
const Stance& stance,Real maxDist);
15 static bool HasContactVelocity(
const Robot& robot,
const Stance& stance,Real maxErr);
16 static bool HasJointLimits(
const Robot& robot);
17 static bool HasVelocityLimits(
const Robot& robot);
18 static bool HasSupportPolygon(
const Robot& robot,
const Stance& stance,
const Vector3& gravity,
int numFCEdges=4);
19 static bool HasSupportPolygon_Robust(
const Robot& robot,
const Stance& stance,
const Vector3& gravity,Real robustnessFactor,
int numFCEdges=4);
22 static bool HasEnvCollision(
Robot& robot,
Terrain& env,
const Stance& stance,
const vector<int>& ignoreList);
23 static bool HasEnvCollision(
Robot& robot,
Terrain& env,
const vector<IKGoal>& fixedLinks,
const vector<int>& ignoreList);
24 static bool HasEnvCollision(
Robot& robot,
Terrain& env,
const vector<IKGoal>& fixedLinks);
25 static bool HasSelfCollision(
Robot& robot);
26 static bool HasTorqueLimits(
Robot& robot,
const Stance& stance,
const Vector3& gravity,
int numFCEdges=4);
The main robot type used in RobotSim.
Definition: Robot.h:79
A collection of holds.
Definition: Stance.h:19
A model of a static terrain with known friction.
Definition: Terrain.h:13
Checks for static constraints for a robot at a given stance.
Definition: ConstraintChecker.h:11