urdf2graspit: ContactFunctions.h Source File

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00001 
00019 #ifndef URDF2GRASPIT_CONTACTFUNCTIONS_H
00020 #define URDF2GRASPIT_CONTACTFUNCTIONS_H
00021 
00022 #include <vector>
00023 
00044 extern void setUpFrictionEllipsoid(unsigned int numLatitudes, unsigned int numDirs[], double phi[],
00045                             double eccen[], unsigned int& numFrictionEdges, std::vector<double>& frictionEdges);
00046 
00047 
00048 
00056 extern void setUpSoftFrictionEdges(unsigned int& numEdges, std::vector<double>& frictionEdges);
00057 
00058 
00059 /*
00060  * Copied and adapted from GraspIt! PointContact class, April 2014.
00061  *
00062  * Set up friction as a linearized circle; a PCWF can only have friction
00063  * forces (no torques) in the tangential plane of the contact. When normal
00064  * force will be added later, the friction circle becomes the more
00065  * familiar contact cone.
00066  *
00067  * \param numEdges output: number of edges generated
00068  * \param frictionEdges the array (size numEdges*6) defining the friction cone
00069  */
00070 extern void setUpFrictionEdges(unsigned int& numEdges, std::vector<double>& frictionEdges);
00071 
00072 
00073 
00074 
00075 #endif  // URDF2GRASPIT_CONTACTFUNCTIONS_H