hpp::constraints::StaticStabilityGravity Class Reference

#include <hpp/constraints/static-stability.hh>

Inheritance diagram for hpp::constraints::StaticStabilityGravity:
Collaboration diagram for hpp::constraints::StaticStabilityGravity:

List of all members.

Public Member Functions

 StaticStabilityGravity (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint)
 Constructor.
void addObjectTriangle (const fcl::TriangleP &t)
void addFloorTriangle (const fcl::TriangleP &t)

Static Public Member Functions

static StaticStabilityGravityPtr_t create (const std::string &name, const DevicePtr_t &robot, const JointPtr_t &joint)
static StaticStabilityGravityPtr_t create (const DevicePtr_t &robot, const JointPtr_t &joint)

Static Public Attributes

static fcl::Vec3f gravity

Constructor & Destructor Documentation

hpp::constraints::StaticStabilityGravity::StaticStabilityGravity ( const std::string &  name,
const DevicePtr_t robot,
const JointPtr_t joint 
)

Constructor.

Parameters:
robotthe robot the constraints is applied to,
jointthe joint to which the object is attached,
comCOM of the object in the joint frame.

Member Function Documentation

void hpp::constraints::StaticStabilityGravity::addFloorTriangle ( const fcl::TriangleP &  t)
void hpp::constraints::StaticStabilityGravity::addObjectTriangle ( const fcl::TriangleP &  t)
static StaticStabilityGravityPtr_t hpp::constraints::StaticStabilityGravity::create ( const std::string &  name,
const DevicePtr_t robot,
const JointPtr_t joint 
) [static]
static StaticStabilityGravityPtr_t hpp::constraints::StaticStabilityGravity::create ( const DevicePtr_t robot,
const JointPtr_t joint 
) [static]

Member Data Documentation