1 #ifndef ROBOT_CONTACT_CSPACE_H 2 #define ROBOT_CONTACT_CSPACE_H 4 #include "RobotCSpace.h" 5 #include <Klampt/Modeling/GeneralizedRobot.h> 6 #include <Klampt/Contact/Stance.h> 7 #include <KrisLibrary/robotics/IK.h> 25 virtual void Sample(Config& q);
26 virtual void SampleNeighborhood(
const Config& c,Real r,Config& q);
27 virtual void Interpolate(
const Config& x,
const Config& y,Real u,Config& out);
28 virtual EdgePlannerPtr PathChecker(
const Config& a,
const Config& b);
29 virtual void Properties(PropertyMap&);
31 void AddContact(
const IKGoal& goal);
32 void AddContact(
int link,
const Vector3& localPos,
const Vector3& worldPos);
33 void AddContact(
int link,
const vector<Vector3>& localPos,
const vector<Vector3>& worldPos);
34 void RemoveContact(
int link);
35 bool SolveContact(
int numIters=0,Real tol=0);
48 vector<IKGoal> contactIK;
50 double solveContactTime;
A structure containing settings that should be used for collision detection, contact solving...
Definition: PlannerSettings.h:41
The main world class containing multiple robots, objects, and static geometries (terrains). Lights and other viewport information may also be stored here.
Definition: World.h:20
A cspace consisting of a single robot configuration in a RobotWorld. Feasibility constraints are join...
Definition: RobotCSpace.h:100