BalanceConstraint: Added alternative constructor for convenience

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@792 042f3d55-54a8-47e9-b7fb-15903f145c44

VirtualRobot/IK/constraints/BalanceConstraint.cpp

@@ -15,12 +15,8 @@
 
 using namespace VirtualRobot;
 
-BalanceConstraint::BalanceConstraint(const RobotPtr &robot,
-                                     const RobotNodeSetPtr &joints,
-                                     const RobotNodeSetPtr &bodies,
-                                     const SceneObjectSetPtr &contactNodes,
-                                     float tolerance,
-                                     float minimumStability) :
+BalanceConstraint::BalanceConstraint(const RobotPtr &robot, const RobotNodeSetPtr &joints, const RobotNodeSetPtr &bodies, const SceneObjectSetPtr &contactNodes,
+                                     float tolerance, float minimumStability) :
     Constraint(joints),
     joints(joints),
     bodies(bodies),
@@ -38,6 +34,12 @@ BalanceConstraint::BalanceConstraint(const RobotPtr &robot,
     initialized = true;
 }
 
+BalanceConstraint::BalanceConstraint(const RobotPtr &robot, const RobotNodeSetPtr &joints, const RobotNodeSetPtr &bodies, const SupportPolygonPtr &supportPolygon,
+                                     float tolerance, float minimumStability) :
+    BalanceConstraint(robot, joints, bodies, supportPolygon->getContactModels(), tolerance, minimumStability)
+{
+}
+
 Eigen::MatrixXf BalanceConstraint::getJacobianMatrix()
 {
     return comIK->getJacobianMatrix();

VirtualRobot/IK/constraints/BalanceConstraint.h

@@ -38,10 +38,9 @@ namespace VirtualRobot
     class VIRTUAL_ROBOT_IMPORT_EXPORT BalanceConstraint : public Constraint, public boost::enable_shared_from_this<BalanceConstraint>
     {
         public:
-            BalanceConstraint(const RobotPtr &robot,
-                              const RobotNodeSetPtr &joints,
-                              const RobotNodeSetPtr &bodies,
-                              const SceneObjectSetPtr &contactNodes,
+            BalanceConstraint(const RobotPtr &robot, const RobotNodeSetPtr &joints, const RobotNodeSetPtr &bodies, const SceneObjectSetPtr &contactNodes,
+                              float tolerance, float minimumStability);
+            BalanceConstraint(const RobotPtr &robot, const RobotNodeSetPtr &joints, const RobotNodeSetPtr &bodies, const SupportPolygonPtr &supportPolygon,
                               float tolerance, float minimumStability);
 
             Eigen::MatrixXf getJacobianMatrix();