ContactFormation Struct Reference

A robot-environment contact formation. The list of contacts contacts[i] is associated with links[i] (pointing from the opposing body into the robot). Usually the opposing body is the environment, but if targets is non-empty, it gives the index of the body for which contact is made. More...

#include <Contact.h>

Public Member Functions
void	set (int link, const std::vector< ContactPoint > &contacts, int target=-1)
	Sets the contact formation to a single-link set of contacts.
void	concat (const ContactFormation &formation)
	Adds another formation onto this one.
void	flatten (std::vector< int > &flatLinks, std::vector< ContactPoint > &cps) const
	Collapses this into a single list of links and cps.
void	flatten (std::vector< int > &flatLinks, std::vector< ContactPoint > &cps, std::vector< int > &flattargets) const
int	numContactPoints () const
	Returns the number of contact points.
int	numForceVariables () const
	Returns the total number of force variables (3*numContactPoints())

Public Attributes
std::vector< int >	links
std::vector< std::vector< ContactPoint > >	contacts
std::vector< int >	targets

Detailed Description

A robot-environment contact formation. The list of contacts contacts[i] is associated with links[i] (pointing from the opposing body into the robot). Usually the opposing body is the environment, but if targets is non-empty, it gives the index of the body for which contact is made.

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

• Contact.h
• Contact.cpp