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GeomPQP3DRigid Class Reference

3D rigid body. More...

#include <geomPQP.h>

Inheritance diagram for GeomPQP3DRigid:

GeomPQP Geom GeomPQP3DRigidMulti List of all members.

Public Methods

 GeomPQP3DRigid (string path)
virtual ~GeomPQP3DRigid ()
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...

virtual MSLVector ConfigurationDifference (const MSLVector &q1, const MSLVector &q2)
 Compute a MSLVector based on q2-q1. In R^n, the configurations are simply subtracted to make the MSLVector. This method exists to make things work correctly for other configuration-space topologies. More...

void SetTransformation (const MSLVector &q)

Detailed Description

3D rigid body.

Constructor & Destructor Documentation

GeomPQP3DRigid::GeomPQP3DRigid (  string    path ) 
 

virtual GeomPQP3DRigid::~GeomPQP3DRigid (    )  [inline, virtual]
 

Member Function Documentation

bool GeomPQP3DRigid::CollisionFree (  const MSLVector &    q )  [virtual]
 

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

Reimplemented from GeomPQP.

Reimplemented in GeomPQP3DRigidMulti.

MSLVector GeomPQP3DRigid::ConfigurationDifference (  const MSLVector &    q1,
const MSLVector &    q2
)  [virtual]
 

Compute a MSLVector based on q2-q1. In R^n, the configurations are simply subtracted to make the MSLVector. This method exists to make things work correctly for other configuration-space topologies.

Reimplemented from Geom.

double GeomPQP3DRigid::DistanceComp (  const MSLVector &    q )  [virtual]
 

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

Reimplemented from GeomPQP.

Reimplemented in GeomPQP3DRigidMulti.

void GeomPQP3DRigid::SetTransformation (  const MSLVector &    q ) 
 

Reimplemented in GeomPQP3DRigidMulti.

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

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