ColdetLinkPair.cpp
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1 /*
2  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
3  * All rights reserved. This program is made available under the terms of the
4  * Eclipse Public License v1.0 which accompanies this distribution, and is
5  * available at http://www.eclipse.org/legal/epl-v10.html
6  * Contributors:
7  * National Institute of Advanced Industrial Science and Technology (AIST)
8  */
9 
10 #include "ColdetLinkPair.h"
11 
12 namespace hrp {
13 
14  class Link;
15 
16  ColdetLinkPair::ColdetLinkPair(Link* link1, Link* link2, double tolerance)
17  : ColdetModelPair(link1->coldetModel, link2->coldetModel, tolerance) {
18  links[0] = link1;
19  links[1] = link2;
20  }
21 
23  : ColdetModelPair(org) {
24  links[0] = org.links[0];
25  links[1] = org.links[1];
26  }
27 
29 
31  model(0)->setPosition(links[0]->R, links[0]->p);
32  model(1)->setPosition(links[1]->R, links[1]->p);
33  }
34 
35  hrp::Link* ColdetLinkPair::link(int index) { return links[index]; }
36 }
void setPosition(const Matrix33 &R, const Vector3 &p)
set position and orientation of this model
hrp::Link * link(int index)
hrp::Link * links[2]
ColdetModel * model(int index)
ColdetLinkPair(Link *link1, Link *link2, double tolerance=0)


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:02