---

GeomPQP2DRigidMulti Class Reference

A collection of 2D rigid bodies. More...

#include <geomPQP.h>

Inheritance diagram for GeomPQP2DRigidMulti::

List of all members.

Public Methods
	GeomPQP2DRigidMulti (string path)
virtual	~GeomPQP2DRigidMulti ()
virtual bool	CollisionFree (const MSLVector &q)
	Return true if the robot(s) and obstacles are not in collision.
virtual double	DistanceComp (const MSLVector &q)
	Compute the distance of the closest point on the robot to the obstacle region.
virtual void	LoadRobot (string path)
void	SetTransformation (const MSLVector &q)
Public Attributes
bool	SelfCollisionCheck

---

Detailed Description

A collection of 2D rigid bodies.

---

Constructor & Destructor Documentation

GeomPQP2DRigidMulti::GeomPQP2DRigidMulti ( string path )

GeomPQP2DRigidMulti::~GeomPQP2DRigidMulti ( ) [inline, virtual]

---

Member Function Documentation

virtual bool GeomPQP2DRigidMulti::CollisionFree ( const MSLVector & q ) [virtual]

Return true if the robot(s) and obstacles are not in collision. Reimplemented from GeomPQP2DRigid.

virtual double GeomPQP2DRigidMulti::DistanceComp ( const MSLVector & q ) [virtual]

Compute the distance of the closest point on the robot to the obstacle region. Reimplemented from GeomPQP2DRigid.

virtual void GeomPQP2DRigidMulti::LoadRobot ( string path ) [virtual]

Reimplemented from GeomPQP2D.

void GeomPQP2DRigidMulti::SetTransformation ( const MSLVector & q )

Reimplemented from GeomPQP2DRigid.

---

Member Data Documentation

bool GeomPQP2DRigidMulti::SelfCollisionCheck

---

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

• geomPQP.h

---

Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.