ConstraintChecker Struct Reference

Checks for static constraints for a robot at a given stance. More...

#include <ConstraintChecker.h>

Static Public Member Functions
static Real	ContactDistance (const Robot &robot, const Stance &stance)
static bool	HasContact (const Robot &robot, const Stance &stance, Real maxDist)
static bool	HasContactVelocity (const Robot &robot, const Stance &stance, Real maxErr)
static bool	HasJointLimits (const Robot &robot)
static bool	HasVelocityLimits (const Robot &robot)
static bool	HasSupportPolygon (const Robot &robot, const Stance &stance, const Vector3 &gravity, int numFCEdges=4)
static bool	HasSupportPolygon_Robust (const Robot &robot, const Stance &stance, const Vector3 &gravity, Real robustnessFactor, int numFCEdges=4)
static bool	HasEnvCollision (Robot &robot, Terrain &env)
static bool	HasEnvCollision (Robot &robot, Terrain &env, const Stance &stance, const vector< int > &ignoreList)
static bool	HasEnvCollision (Robot &robot, Terrain &env, const vector< IKGoal > &fixedLinks, const vector< int > &ignoreList)
static bool	HasEnvCollision (Robot &robot, Terrain &env, const vector< IKGoal > &fixedLinks)
static bool	HasSelfCollision (Robot &robot)
static bool	HasTorqueLimits (Robot &robot, const Stance &stance, const Vector3 &gravity, int numFCEdges=4)

Detailed Description

Checks for static constraints for a robot at a given stance.

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The documentation for this struct was generated from the following file:

• ConstraintChecker.h