OBRManifold Class Reference

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...

Detailed Description

Contact manifold based on Oriented Bounding Rectangle, so in 2D.

Constructor & Destructor Documentation

OBRManifold()

OBRManifold ( double  thres = 0.03, double  sepThres = 0.01  )

inline

Constructor.

Parameters

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.

Member Function Documentation

addPoint()

bool addPoint

(

ContactPoint &

p

)

adds and updates the manifold with a new point

Parameters

p	the new point to add

Returns

True if point is a part of the manifold, else false

fit()

void fit

(

ContactPoint &

p

)

fits a new manifold to the list of contact points

Parameters

p

getContact()

ContactPoint& getContact ( int  i )

inline

Get contact.

Parameters

i	[in] contact index.

Returns

the contact at index i.

getDeepestPoint()

ContactPoint& getDeepestPoint ( )

inline

Get the deepest point in manifold.

Returns

the deepest point.

getHalfLengths()

rw::math::Vector3D getHalfLengths ( )

inline

Get half lengths of the manifold.

Returns

half lengths.

getNormal()

rw::math::Vector3D getNormal ( )

inline

Get the normal.

Returns

the normal.

getNrOfContacts()

int getNrOfContacts ( )

inline

Get number of contacts in manifold.

Returns

the number of contacts.

getTransform()

rw::math::Transform3D getTransform ( void  )

inline

Get the transform.

Returns

the transform.

inManifold()

bool inManifold ( ContactPoint &  p )

inline

Check if a point lies within manifold.

Parameters

p	[in] point to check.

Returns

true if inside manifold, false otherwise.

update()

void update ( const rw::math::Transform3D<> &  aT, const rw::math::Transform3D<> &  bT  )

inline

Update the position of the contacts.

Parameters

aT	[in] transform of the first object.
bT	[in] transform of the second object.

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

• OBRManifold.hpp