Klamp't
0.8.1
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Defines the ContactFeature structures and some routines for creating holds from features. More...
#include "Hold.h"
#include <KrisLibrary/math3d/Polygon3D.h>
#include <KrisLibrary/math3d/geometry3d.h>
#include <memory>
Go to the source code of this file.
Classes | |
struct | ContactFeatureBase |
A feature on the robot that can be used for contact. More... | |
struct | PointContactFeature |
A single point contact feature. More... | |
struct | EdgeContactFeature |
An edge contact feature. More... | |
struct | FaceContactFeature |
A (planar) face contact feature. More... | |
struct | WheelContactFeature |
A wheel contact feature. More... | |
struct | FacesContactFeature |
A contact feature consisting of multiple faces. More... | |
Typedefs | |
typedef std::shared_ptr< ContactFeatureBase > | ContactFeature |
Functions | |
bool | LoadContactFeatures (const char *fn, vector< ContactFeature > &ccs) |
bool | SaveContactFeatures (const char *fn, const vector< ContactFeature > &ccs) |
void | SampleHold (const Vector3 &x, const Vector3 &n, const ContactFeatureBase *, Hold &) |
void | SampleHold (const Vector3 &x, const Vector3 &n, const vector< ContactFeature > &, Hold &) |
void | SampleHold (Triangle3DSampler &smp, const ContactFeatureBase *, Hold &) |
void | SampleHold (Triangle3DSampler &smp, const vector< ContactFeature > &, Hold &) |
void | HoldFromTransform (const ContactFeatureBase *f, const RigidTransform &T, Hold &h) |
Computes a hold that transforms the contact feature by T. | |
bool | FeatureRayIntersection (const ContactFeatureBase *f, const Ray3D &ray, Real tol=0) |
Returns true if the ray intersects the contact feature. | |
Vector3 | FeatureContactPoint (const ContactFeatureBase *f) |
Returns the centroid of the feature contact region. | |
Vector3 | FeatureContactNormal (const ContactFeatureBase *f) |
Vector3 | SampleFeatureContactPoint (const ContactFeatureBase *f) |
Uniformly samples a contact point in the feature contact region. | |
Defines the ContactFeature structures and some routines for creating holds from features.