parameters: (*args)
return_statement: return _robotsim.comEquilibrium(*args)
docstring: comEquilibrium(doubleMatrix contacts, doubleVector fext, PyObject * com) -> PyObject
      comEquilibrium(doubleMatrix contactPositions, doubleMatrix frictionCones, doubleVector fext, PyObject * com) -> PyObject *
  
  
  
      Tests whether the given COM com is stable for the given contacts and the given
      external force fext.  
  
      The 2-argument version is a "fancy" version that allows more control over the
      constraint planes.  
  
      Args: contacts (list of 7-float lists or tuples): the list of contacts, each
      specified as a 7-list or tuple [x,y,z,nx,ny,nz,k], with:  
  
          * (x,y,z): the contact position
          * (nx,ny,nz): the contact normal
          * k: the coefficient of friction (>= 0)  
  
      contactPositions (list of 3-float lists or tuples): the list of contact point
      positions. frictionCones (list of lists): Each item of this list specifies
      linear inequalities that must be met of the force at the corresponding contact
      point. The item must have length k*4 where k is an integer, and each inequality
      gives the entries (ax,ay,az,b) of a constraint ax*fx+ay*fy+az*fz <= b that
      limits the contact force (fx,fy,fz) at the i'th contact. Each of the k 4-tuples
      is laid out sequentially per-contact. fext (3-tuple or list): the external force
      vector. com (3-tuple or list, or None): the center of mass coordinates. If None,
      assumes that you want to test whether ANY COM may be in equilibrium for the
      given contacts.  
  
      Returns:  
  
          (bool, None, or list): if com is given, and there are feasible
              equilibrium forces, this returns a list of 3 tuples giving
              equilibrium forces at each of the contacts. None is returned if
              no such forces exist.  
  
              If com = None, the result is True or False.
docstring_summary: comEquilibrium(doubleMatrix contacts, doubleVector fext, PyObject * com) -> PyObject
      comEquilibrium(doubleMatrix contactPositions, doubleMatrix frictionCones, doubleVector fext, PyObject * com) -> PyObject *
docstring_tokens: comEquilibrium ( doubleMatrix contacts doubleVector fext PyObject * com ) - > PyObject comEquilibrium ( doubleMatrix contactPositions doubleMatrix frictionCones doubleVector fext PyObject * com ) - > PyObject *
function: def comEquilibrium(*args):
      """
      comEquilibrium(doubleMatrix contacts, doubleVector fext, PyObject * com) -> PyObject
      comEquilibrium(doubleMatrix contactPositions, doubleMatrix frictionCones, doubleVector fext, PyObject * com) -> PyObject *
  
  
  
      Tests whether the given COM com is stable for the given contacts and the given
      external force fext.  
  
      The 2-argument version is a "fancy" version that allows more control over the
      constraint planes.  
  
      Args: contacts (list of 7-float lists or tuples): the list of contacts, each
      specified as a 7-list or tuple [x,y,z,nx,ny,nz,k], with:  
  
          * (x,y,z): the contact position
          * (nx,ny,nz): the contact normal
          * k: the coefficient of friction (>= 0)  
  
      contactPositions (list of 3-float lists or tuples): the list of contact point
      positions. frictionCones (list of lists): Each item of this list specifies
      linear inequalities that must be met of the force at the corresponding contact
      point. The item must have length k*4 where k is an integer, and each inequality
      gives the entries (ax,ay,az,b) of a constraint ax*fx+ay*fy+az*fz <= b that
      limits the contact force (fx,fy,fz) at the i'th contact. Each of the k 4-tuples
      is laid out sequentially per-contact. fext (3-tuple or list): the external force
      vector. com (3-tuple or list, or None): the center of mass coordinates. If None,
      assumes that you want to test whether ANY COM may be in equilibrium for the
      given contacts.  
  
      Returns:  
  
          (bool, None, or list): if com is given, and there are feasible
              equilibrium forces, this returns a list of 3 tuples giving
              equilibrium forces at each of the contacts. None is returned if
              no such forces exist.  
  
              If com = None, the result is True or False.  
  
      """
      return _robotsim.comEquilibrium(*args)
function_tokens: def comEquilibrium ( * args ) : return _robotsim . comEquilibrium ( * args )