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GeomPQP Class Reference

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

#include <geomPQP.h>

Inheritance diagram for GeomPQP::

Geom GeomPQP2D GeomPQP3DRigid GeomPQP2DRigid GeomPQP3DRigidMulti GeomPQP2DRigidMulti 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.

virtual double DistanceComp (const MSLVector &q)
 Compute the distance of the closest point on the robot to the obstacle region.


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]

Detailed Description

Parent class PQP-based list of Triangle models.

Constructor & Destructor Documentation

GeomPQP::GeomPQP ( string path )
 

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

Member Function Documentation

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

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

Reimplemented from Geom.

Reimplemented in GeomPQP2DRigid, GeomPQP2DRigidMulti, GeomPQP3DRigid, and GeomPQP3DRigidMulti.

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

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

Reimplemented from Geom.

Reimplemented in GeomPQP2DRigid, GeomPQP2DRigidMulti, GeomPQP3DRigid, and GeomPQP3DRigidMulti.

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

Reimplemented in GeomPQP2D.

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

Reimplemented in GeomPQP2D, GeomPQP2DRigidMulti, and GeomPQP3DRigidMulti.

Member Data Documentation

PQP_Model GeomPQP::Ob
 

list<MSLTriangle> GeomPQP::Obst
 

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

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

PQP_Model GeomPQP::Ro
 

list<MSLTriangle> GeomPQP::Robot
 

PQP_REAL GeomPQP::TO[3] [protected]
 

PQP_REAL GeomPQP::TR[3] [protected]
 

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

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.