Drake
 All Classes Files Functions Variables
RigidBodySupportState Class Reference

RigidBodySupportState defines a set of supporting bodies and contacts for a rigid body manipulator. More...

Collaboration diagram for RigidBodySupportState:

Public Member Functions

function RigidBodySupportState (r, bodies, options)
 
function setContactPts (obj, ind, contact_pts, contact_groups)
 

Protected Attributes

Property bodies
 
Property contact_pts
 
Property contact_groups
 
Property num_contact_pts
 
Property support_surface
 contact points for each support body More...
 

Detailed Description

RigidBodySupportState defines a set of supporting bodies and contacts for a rigid body manipulator.

Constructor & Destructor Documentation

function RigidBodySupportState ( ,
bodies  ,
options   
)
Return values
obj

Member Function Documentation

function setContactPts ( obj  ,
ind  ,
contact_pts  ,
contact_groups   
)
Return values
obj

Member Data Documentation

Property bodies
protected
Property contact_groups
protected
Property contact_pts
protected
Property num_contact_pts
protected
Property support_surface
protected

contact points for each support body


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