Drake
rigid_body_tree_contact.cc File Reference
#include "drake/multibody/rigid_body_tree.h"
#include <algorithm>
#include <iostream>
#include <set>
#include <vector>
Include dependency graph for rigid_body_tree_contact.cc:

Functions

void surfaceTangentsSingle (Vector3d const &normal, Matrix3kd &d)
 
void getUniqueBodiesSorted (VectorXi const &idxA, VectorXi const &idxB, std::vector< int > &bodyIndsSorted)
 
void findContactIndexes (VectorXi const &idxList, const size_t bodyIdx, std::vector< size_t > &contactIdx)
 
void getBodyPoints (std::vector< size_t > const &cindA, std::vector< size_t > const &cindB, Matrix3Xd const &xA, Matrix3Xd const &xB, Matrix3Xd &bodyPoints)
 

Function Documentation

◆ findContactIndexes()

void findContactIndexes ( VectorXi const &  idxList,
const size_t  bodyIdx,
std::vector< size_t > &  contactIdx 
)

◆ getBodyPoints()

void getBodyPoints ( std::vector< size_t > const &  cindA,
std::vector< size_t > const &  cindB,
Matrix3Xd const &  xA,
Matrix3Xd const &  xB,
Matrix3Xd &  bodyPoints 
)

◆ getUniqueBodiesSorted()

void getUniqueBodiesSorted ( VectorXi const &  idxA,
VectorXi const &  idxB,
std::vector< int > &  bodyIndsSorted 
)

◆ surfaceTangentsSingle()

void surfaceTangentsSingle ( Vector3d const &  normal,
Matrix3kd d 
)