Public Member Functions
	ObjectRob (Robot *rob)

double	distToPoint (p3d_point p)

double	distToPointZ (p3d_point p)

void	setManipulable (bool val)

bool	isManipulable ()

void	setSupport (bool val)

bool	isSupport ()

void	setContainer (bool val)

bool	isContainer ()

void	setIsObject (bool val)

bool	isObject ()

void	addStableRotation (configPt q)

std::vector< configPt >	getStableRotations ()

configPt	getStableRotation (unsigned int id, double rot)

void	addSupports (GeometricForm *gf)

std::vector< GeometricForm * >	getSupports ()

bool	hasTags ()
	true if the object has viman tags attributed

void	addTag (Eigen::Affine3d tf)
	add a viman tag in the form of a transform

void	clearTags ()

std::vector< Eigen::Affine3d > const &	getTags ()

int	isInStableRotation ()

bool	isVirtual ()

void	getIsVirtual (bool iv)

void	setToVirtual (bool val)

bool	hasVerticalityConstraint () const

void	setHasVerticalityConstraint (bool hasVerticalityConstraint)

Eigen::Vector3d	keepVerticalAxis () const

void	setKeepVerticalAxis (const Eigen::Vector3d &keepVerticalAxis)

double	maxVerticalTolerance () const

void	setMaxVerticalTolerance (double angle)

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

Public Member Functions