KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
OrientedSupportPolygon Class Reference

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
 

Detailed Description

Calculation of a support polygon with a non-vertical gravity vector.


The documentation for this class was generated from the following files: