#include <hpp/constraints/static-stability.hh>
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 |
hpp::constraints::StaticStabilityGravity::StaticStabilityGravity | ( | const std::string & | name, |
const DevicePtr_t & | robot, | ||
const JointPtr_t & | joint | ||
) |
Constructor.
robot | the robot the constraints is applied to, |
joint | the joint to which the object is attached, |
com | COM of the object in the joint frame. |
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] |
fcl::Vec3f hpp::constraints::StaticStabilityGravity::gravity [static] |