4 #include <KrisLibrary/robotics/Contact.h> 5 #include <KrisLibrary/robotics/IK.h> 29 void Add(
const Grasp& grasp);
30 void SetHold(
const Hold& h);
31 void SetStance(
const Stance& h);
32 void GetHold(
Hold& h)
const;
33 void GetStance(
Stance& s)
const;
34 void GetContactFormation(ContactFormation& s)
const;
35 void Transform(
const RigidTransform& T);
36 void SetFixed(Vector& q)
const;
38 bool Load(TiXmlElement* e);
39 bool Save(TiXmlElement* e);
46 vector<Real> fixedValues;
47 vector<int> fixedDofs;
51 vector<int> contactLinks;
52 vector<Vector3> forces;
A single contact between the robot and the environment.
Definition: Hold.h:26
A collection of holds.
Definition: Stance.h:19
vector< ContactPoint > contacts
optional: describes contact state
Definition: Grasp.h:50
int objectIndex
index of the robot and object – object may be -1
Definition: Grasp.h:42
vector< IKGoal > constraints
describes constraints on robot configuration relative to object
Definition: Grasp.h:45
bool IsSimple() const
A grasp is simple if it's a rigid attachment to a single robot link.
Definition: Grasp.h:24
size_t NumConstraints() const
Returns the number of constraints touching the object.
Definition: Grasp.h:21
Structures defining the finalized contacts used in stances.
Slightly more sophisticated than a Stance, a Grasp allows some of the robot's degrees of freedom to b...
Definition: Grasp.h:15