#include <geom.h>
Inheritance diagram for Geom::
Public Methods  
Geom (string path)  
Empty constructor in base class.  
virtual  ~Geom () 
Empty destructor.  
virtual bool  CollisionFree (const MSLVector &q)=0 
Return true if the robot(s) and obstacles are not in collision.  
virtual double  DistanceComp (const MSLVector &q)=0 
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 q2q1. In R^n, the configurations are simply subtracted to make the MSLVector. This method exists to make things work correctly for other configurationspace topologies.  
Public Attributes  
int  NumBodies 
The number of rigid bodies in the geometry model.  
int  GeomDim 
The dimension of the world geometry: 2 or 3.  
MSLVector  MaxDeviates 
Maximum displacement of geometry with respect to change in each variable.  
Protected Attributes  
string  FilePath 
These classes define the geometric representations of all obstacles in the world, and of each part of the robot. The methods allow planning algorithms to determine whether any of the robot parts are in collision with each other or with obstacles in the world.
A configuration vector specifies the positions and orientation of each rigid body.

Empty constructor in base class.


Empty destructor.


Return true if the robot(s) and obstacles are not in collision.
Reimplemented in GeomNone, GeomPQP, GeomPQP2DRigid, GeomPQP2DRigidMulti, GeomPQP3DRigid, and GeomPQP3DRigidMulti. 

Compute a MSLVector based on q2q1. In R^n, the configurations are simply subtracted to make the MSLVector. This method exists to make things work correctly for other configurationspace topologies.
Reimplemented in GeomPQP2DRigid, and GeomPQP3DRigid. 

Compute the distance of the closest point on the robot to the obstacle region.
Reimplemented in GeomNone, GeomPQP, GeomPQP2DRigid, GeomPQP2DRigidMulti, GeomPQP3DRigid, and GeomPQP3DRigidMulti. 



The dimension of the world geometry: 2 or 3.


Maximum displacement of geometry with respect to change in each variable.


The number of rigid bodies in the geometry model.
