KrisLibrary
1.0.0
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Calculation of a support polygon with a non-vertical gravity vector. More...
#include <Stability.h>
Public Member Functions | |
bool | Set (const std::vector< ContactPoint > &contacts, const Vector3 &fext, int numFCEdges) |
bool | Set (const std::vector< CustomContactPoint > &contacts, const Vector3 &fext) |
bool | Set (const CustomContactFormation &contacts, const Vector3 &fext) |
bool | TestCOM (const Vector3 &com) const |
Real | COMMargin (const Vector3 &com) const |
void | GetXYSlice (Real height, Geometry::UnboundedPolytope2D &poly) const |
void | GetSlice (const RigidTransform &frame, Geometry::UnboundedPolytope2D &poly) const |
Public Attributes | |
RigidTransform | T |
SupportPolygon | sp |
Calculation of a support polygon with a non-vertical gravity vector.