- edited description
Storing external forces and contacts
Issue #47
new
Should have a neat dynamics interface for this:
/** The external forces applied on the robot:
* Eg.
* a) By a user interacting through a gui
* b) By a physical force on a real robot
*
* NOTE TODO : Consider using a CMappedList here
* instead of the vector. The vector doesn't support
* removing contacts very efficiently if there are a
* large number of contacts. CMappedList is much
* faster at removal/insertion. */
std::vector<SForce*> forces_external_;
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