klampt/klampt_docs/ContactFeatureMapping_8h_source.html

 #ifndef CONTACT_FEATURE_MAPPING_H
 #define CONTACT_FEATURE_MAPPING_H

 #include "Hold.h"
 #include "ContactFeature.h"


 struct ContactFeatureMapping
 {
   ContactFeatureMapping();

   void GetHold(Hold& h) const;

   void GetLocalFrame(RigidTransform& T) const;

   ContactFeature feature;
   ContactPoint contact;
   Real angle;
   bool fixedWheel;
   Real wheelRoll;
   Vector3 localOffset;
 };

 bool LoadContactFeatureMapping(istream& in,const vector<ContactFeature>& features,ContactFeatureMapping& m);
 void SaveContactFeatureMapping(ostream& out,ContactFeatureMapping& m);

 bool FeatureMappingFromHold(const Hold& h,const vector<ContactFeature>& features, ContactFeatureMapping& m);

 Real BestFeatureMappingAngle(const ContactFeatureMapping& feature,const Matrix3& Rdes);

 void SetFeatureMappingOrientation(ContactFeatureMapping& feature,const Matrix3& Rdes);

 #endif
Hold
A single contact between the robot and the environment.
Definition: Hold.h:26

ContactFeatureMapping::GetLocalFrame
void GetLocalFrame(RigidTransform &T) const

ContactFeatureMapping::fixedWheel
bool fixedWheel
Definition: ContactFeatureMapping.h:37

ContactFeatureMapping::wheelRoll
Real wheelRoll
for fixed wheels, this is the roll angle at which the wheel is fixed
Definition: ContactFeatureMapping.h:39

BestFeatureMappingAngle
Real BestFeatureMappingAngle(const ContactFeatureMapping &feature, const Matrix3 &Rdes)
Returns the angle parameter that makes the feature map to Rdes.

ContactFeature
std::shared_ptr< ContactFeatureBase > ContactFeature
Definition: ContactFeature.h:161

ContactFeature.h
Defines the ContactFeature structures and some routines for creating holds from features.

ContactFeatureMapping
A mapping from a ContactFeature to a point on the environment.
Definition: ContactFeatureMapping.h:17

SetFeatureMappingOrientation
void SetFeatureMappingOrientation(ContactFeatureMapping &feature, const Matrix3 &Rdes)
Sets the angle parameters that make the feature map to Rdes.

FeatureMappingFromHold
bool FeatureMappingFromHold(const Hold &h, const vector< ContactFeature > &features, ContactFeatureMapping &m)
Constructs a contact feature mapping from a hold by trying to match contact features to the hold...

ContactFeatureMapping::localOffset
Vector3 localOffset
Definition: ContactFeatureMapping.h:42

Hold.h
Structures defining the finalized contacts used in stances.

ContactFeatureMapping::angle
Real angle
Definition: ContactFeatureMapping.h:34

ContactFeatureMapping::GetHold
void GetHold(Hold &h) const