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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.

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

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.

void SetTransformation (const MSLVector &q)

Detailed Description

3D rigid body.

Constructor & Destructor Documentation

GeomPQP3DRigid::GeomPQP3DRigid ( string path )
 

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

Member Function Documentation

virtual 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.

virtual 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.

virtual 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 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.