calculates the stable poses of an object when the support structure is planar. More...

#include <PlanarSupportPoseGenerator.hpp>

Public Member Functions
	PlanarSupportPoseGenerator ()
	constructor More...

	PlanarSupportPoseGenerator (rw::core::Ptr< rw::geometry::ConvexHull3D > hullGenerator)
	constructor - a convex hull generator can be supplied More...

void	analyze (const rw::geometry::TriMesh &mesh)
	calculates the hull and the support poses. More...

void	analyze (const std::vector< rw::core::Ptr< rw::geometry::Geometry >> &bodies, rw::kinematics::Frame *ref, const rw::kinematics::State &state)

void	calculateDistribution (int i, std::vector< rw::math::Transform3D<>> &poses, std::vector< rw::math::Transform3D<>> &posesMises)

std::vector< SupportPose >	getSupportPoses ()
	gets the previously calculated support poses. More...

Detailed Description

calculates the stable poses of an object when the support structure is planar.

This support pose generator implementation calculates the convex hull of an object and projects the center of mass of the object onto all polygons of the convex hull. If the projection is inside the polygon then the polygon is considered as a stable support pose. Only projections that are within some threshold of the border of a support polygon is used to further generate support poses.

Constructor & Destructor Documentation

◆ PlanarSupportPoseGenerator() [1/2]

PlanarSupportPoseGenerator ( )

constructor

Returns

◆ PlanarSupportPoseGenerator() [2/2]

PlanarSupportPoseGenerator ( rw::core::Ptr< rw::geometry::ConvexHull3D > hullGenerator )

constructor - a convex hull generator can be supplied

Parameters

hullGenerator

Returns

Member Function Documentation

◆ analyze()

void analyze ( const rw::geometry::TriMesh & mesh )

calculates the hull and the support poses.

Parameters

mesh

◆ getSupportPoses()

std::vector<SupportPose> getSupportPoses ( )

gets the previously calculated support poses.

Returns

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

PlanarSupportPoseGenerator.hpp