https://github.com/xbpeng/DeepTerrainRL
Tip revision: ed82e2ebe5f14fa875cc3d0a2180c64980408e8f authored by Glen on 19 October 2016, 17:49:36 UTC
Update README.md
Update README.md
Tip revision: ed82e2e
SimRaptor.h
#pragma once
#include "sim/SimCharSoftFall.h"
class cSimRaptor : public cSimCharSoftFall
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
enum eJoint
{
eJointRoot,
eJointSpine0,
eJointSpine1,
eJointSpine2,
eJointSpine3,
eJointHead,
eJointTail0,
eJointTail1,
eJointTail2,
eJointTail3,
eJointTail4,
eJointRightHip,
eJointRightKnee,
eJointRightAnkle,
eJointRightToe,
eJointLeftHip,
eJointLeftKnee,
eJointLeftAnkle,
eJointLeftToe,
eJointMax,
eJointInvalid
};
cSimRaptor();
virtual ~cSimRaptor();
virtual double GetPoseJointWeight(int joint_id) const;
virtual bool HasStumbled() const;
virtual bool IsEndEffector(int idx) const;
protected:
virtual short GetPartColGroup(int part_id) const;
virtual short GetPartColMask(int part_id) const;
virtual bool CheckFallContact() const;
virtual bool FailFallMisc() const;
};