klampt/klampt_docs/Utils_8h_source.html

 #ifndef CONTACT_UTILS_H
 #define CONTACT_UTILS_H

 #include <KrisLibrary/robotics/Contact.h>
 #include <KrisLibrary/robotics/RobotWithGeometry.h>
 class RobotWorld;
 #include "Stance.h"

 void GetFlatContacts(RobotWithGeometry& robot,Real tol,ContactFormation& contacts);


 void GetFlatContacts(RobotWithGeometry& robot,int link,Real tol,vector<ContactPoint>& contacts);


 void GetFlatStance(RobotWithGeometry& robot,Real tol,Stance& s,Real kFriction=0);


 void GetNearbyContacts(RobotWithGeometry& robot,RobotWorld& world,Real tol,ContactFormation& contacts);


 void GetNearbyContacts(RobotWithGeometry& robot,int link,RobotWorld& world,Real tol,vector<ContactPoint>& contacts);


 void LocalContactsToHold(const vector<ContactPoint>& contacts,int link,const RobotKinematics3D& robot,Hold& hold);

 void LocalContactsToStance(const ContactFormation& contacts,const RobotKinematics3D& robot,Stance& stance);

 void ClusterContacts(vector<ContactPoint>& cps,int numClusters,Real clusterNormalScale=0.1,Real clusterFrictionScale=0.1);

 void CleanupContacts(vector<ContactPoint>& cp,Real tol);

 void CHContacts(vector<ContactPoint>& cp,Real ntol,Real xtol);

 int ClosestContact(const ContactPoint& p,const Meshing::TriMesh& mesh,ContactPoint& closest,Real normalScale=0.1);


 #endif
LocalContactsToStance
void LocalContactsToStance(const ContactFormation &contacts, const RobotKinematics3D &robot, Stance &stance)
For a local contact formation, returns a stance for the given robot. Assumes the robot is making thos...

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

ClusterContacts
void ClusterContacts(vector< ContactPoint > &cps, int numClusters, Real clusterNormalScale=0.1, Real clusterFrictionScale=0.1)
Reduces a complex set of contacts to a set of representative clusters through kmeans clustering...

GetNearbyContacts
void GetNearbyContacts(RobotWithGeometry &robot, RobotWorld &world, Real tol, ContactFormation &contacts)
Produces a list of contacts for all points on the robot within tol of the other objects in world...

Stance
A collection of holds.
Definition: Stance.h:19

GetFlatContacts
void GetFlatContacts(RobotWithGeometry &robot, Real tol, ContactFormation &contacts)
Produces a list of contacts as though the robot were standing on a plane.

RobotWorld
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

LocalContactsToHold
void LocalContactsToHold(const vector< ContactPoint > &contacts, int link, const RobotKinematics3D &robot, Hold &hold)
For a set of local contacts on a link, returns a hold for the given robot. Assumes the robot is makin...

ClosestContact
int ClosestContact(const ContactPoint &p, const Meshing::TriMesh &mesh, ContactPoint &closest, Real normalScale=0.1)
Finds the closest point/normal on the mesh to p. Metric distance is sqrt(||p.x - x||^2 + normalScale*...

CHContacts
void CHContacts(vector< ContactPoint > &cp, Real ntol, Real xtol)
Removes contact points in the convex hull interior of other cp&#39;s.

CleanupContacts
void CleanupContacts(vector< ContactPoint > &cp, Real tol)
Merges contact points within tol distance of each other.

GetFlatStance
void GetFlatStance(RobotWithGeometry &robot, Real tol, Stance &s, Real kFriction=0)
Produces a stance as though the robot were standing on a plane.