cnoid::PenetrationBlocker Class Reference

#include <PenetrationBlocker.h>

Public Member Functions
	PenetrationBlocker (CollisionDetectorPtr collisionDetector, Link *targetLink)
void	addOpponentLink (Link *link)
void	setDepth (double depth)
void	start ()
bool	adjust (Isometry3 &io_T, const Vector3 &pushDirection)

Detailed Description

Constructor & Destructor Documentation

PenetrationBlocker()

PenetrationBlocker::PenetrationBlocker	(	CollisionDetectorPtr	collisionDetector,
		Link *	targetLink
	)

Parameters

collisionDetector

A CollisionDetector object which is only used for the PenetrationBlocker instance.

Member Function Documentation

addOpponentLink()

void PenetrationBlocker::addOpponentLink

(

Link *

link

)

adjust()

bool PenetrationBlocker::adjust	(	Isometry3 &	io_T,
		const Vector3 &	pushDirection
	)

setDepth()

void PenetrationBlocker::setDepth

(

double

depth

)

start()

void PenetrationBlocker::start

(

)

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

• PenetrationBlocker.h
• PenetrationBlocker.cpp