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RobWorkProject
23.9.11-
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Contact manifold based on Oriented Bounding Rectangle, so in 2D. More...
#include <OBRManifold.hpp>
Public Member Functions | |
OBRManifold (double thres=0.03, double sepThres=0.01) | |
Constructor. More... | |
virtual | ~OBRManifold () |
Destructor. | |
bool | addPoint (ContactPoint &p) |
adds and updates the manifold with a new point More... | |
ContactPoint & | getDeepestPoint () |
Get the deepest point in manifold. More... | |
void | update (const rw::math::Transform3D<> &aT, const rw::math::Transform3D<> &bT) |
Update the position of the contacts. More... | |
int | getNrOfContacts () |
Get number of contacts in manifold. More... | |
bool | inManifold (ContactPoint &p) |
Check if a point lies within manifold. More... | |
void | fit (ContactPoint &p) |
fits a new manifold to the list of contact points More... | |
rw::math::Vector3D | getNormal () |
Get the normal. More... | |
ContactPoint & | getContact (int i) |
Get contact. More... | |
rw::math::Transform3D | getTransform () |
Get the transform. More... | |
rw::math::Vector3D | getHalfLengths () |
Get half lengths of the manifold. More... | |
Contact manifold based on Oriented Bounding Rectangle, so in 2D.
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Constructor.
thres | [in] (optional) the angle threshold in radians. Threshold of angle between contact normals. Default is 0.03 radians. |
sepThres | [in] (optional) the max seperating distance in meter between contacting points. Default is 0.01 meter. |
bool addPoint | ( | ContactPoint & | p | ) |
adds and updates the manifold with a new point
p | the new point to add |
void fit | ( | ContactPoint & | p | ) |
fits a new manifold to the list of contact points
p |
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Get contact.
i | [in] contact index. |
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Get the deepest point in manifold.
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Get half lengths of the manifold.
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Get the normal.
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Get number of contacts in manifold.
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Get the transform.
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Check if a point lies within manifold.
p | [in] point to check. |
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Update the position of the contacts.
aT | [in] transform of the first object. |
bT | [in] transform of the second object. |