GraspStudio::ContactConeGenerator Class Reference

Creates approximated representations of contact cones. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ContactConeGenerator (int coneSamples=8, float frictionCoeff=0.25f, float unitForce=1.0f)
	constructor More...
	~ContactConeGenerator ()
	destructor More...
void	computeConePoints (const VirtualRobot::MathTools::ContactPoint &point, std::vector< VirtualRobot::MathTools::ContactPoint > &storeConePoints)
void	computeConePoints (const VirtualRobot::MathTools::ContactPoint &point, std::vector< Eigen::Vector3f > &storeConePoints)
	Computes the cone points without normals. coneSamples computed points are appended to storeConePoints. More...
float	getConeAngle ()
float	getConeRadius ()
float	getConeHeight ()

Detailed Description

Creates approximated representations of contact cones.

Constructor & Destructor Documentation

ContactConeGenerator()

GraspStudio::ContactConeGenerator::ContactConeGenerator	(	int	coneSamples = 8,
		float	frictionCoeff = 0.25f,
		float	unitForce = 1.0f
	)

constructor

~ContactConeGenerator()

GraspStudio::ContactConeGenerator::~ContactConeGenerator

(

)

destructor

Member Function Documentation

computeConePoints() [1/2]

void GraspStudio::ContactConeGenerator::computeConePoints	(	const VirtualRobot::MathTools::ContactPoint &	point,
		std::vector< VirtualRobot::MathTools::ContactPoint > &	storeConePoints
	)

Computes the cone with normals. coneSamples computed points are appended to storeConePoints.

computeConePoints() [2/2]

void GraspStudio::ContactConeGenerator::computeConePoints	(	const VirtualRobot::MathTools::ContactPoint &	point,
		std::vector< Eigen::Vector3f > &	storeConePoints
	)

Computes the cone points without normals. coneSamples computed points are appended to storeConePoints.

getConeAngle()

float GraspStudio::ContactConeGenerator::getConeAngle

(

)

Returns the opening angle of a friction cone. [rad]

getConeHeight()

float GraspStudio::ContactConeGenerator::getConeHeight

(

)

Returns the height a friction cone.

getConeRadius()

float GraspStudio::ContactConeGenerator::getConeRadius

(

)

Returns the radius a friction cone.