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GeomPQP Class Reference

Parent class PQP-based list of Triangle models. More...

#include <geomPQP.h>

Inheritance diagram for GeomPQP:

List of all members.

Public Methods
	GeomPQP (string path)
virtual	~GeomPQP ()
virtual void	LoadEnvironment (string path)
virtual void	LoadRobot (string path)
virtual bool	CollisionFree (const MSLVector &q)
	Return true if the robot(s) and obstacles are not in collision. More...
virtual double	DistanceComp (const MSLVector &q)
	Compute the distance of the closest point on the robot to the obstacle region. More...
Public Attributes
list< MSLTriangle >	Obst
list< MSLTriangle >	Robot
PQP_Model	Ro
PQP_Model	Ob
Protected Attributes
PQP_REAL	RR [3][3]
PQP_REAL	RO [3][3]
PQP_REAL	TR [3]
PQP_REAL	TO [3]

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Detailed Description

Parent class PQP-based list of Triangle models.

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Constructor & Destructor Documentation

GeomPQP::GeomPQP (  string    path )

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

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Member Function Documentation

virtual bool GeomPQP::CollisionFree (  const MSLVector &    q )  [inline, virtual]

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

virtual double GeomPQP::DistanceComp (  const MSLVector &    q )  [inline, virtual]

Compute the distance of the closest point on the robot to the obstacle region. Implements Geom. Reimplemented in GeomPQP2DRigid.

void GeomPQP::LoadEnvironment (  string    path )  [virtual]

Reimplemented in GeomPQP2D.

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

Reimplemented in GeomPQP2D.

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Member Data Documentation

PQP_Model GeomPQP::Ob

list<MSLTriangle> GeomPQP::Obst

PQP_Model GeomPQP::Ro

PQP_REAL GeomPQP::RO[3][3] [protected]

list<MSLTriangle> GeomPQP::Robot

PQP_REAL GeomPQP::RR[3][3] [protected]

PQP_REAL GeomPQP::TO[3] [protected]

PQP_REAL GeomPQP::TR[3] [protected]

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

• geomPQP.h
• geomPQP.C

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