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GeomPQP2DRigidMulti Class Reference

A collection of 2D rigid bodies. More...

#include <geomPQP.h>

Inheritance diagram for GeomPQP2DRigidMulti::

GeomPQP2DRigid GeomPQP2D GeomPQP Geom List of all members.

Public Methods

 GeomPQP2DRigidMulti (string path)
virtual ~GeomPQP2DRigidMulti ()
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 void LoadRobot (string path)
void SetTransformation (const MSLVector &q)

Public Attributes

bool SelfCollisionCheck

Detailed Description

A collection of 2D rigid bodies.


Constructor & Destructor Documentation

GeomPQP2DRigidMulti::GeomPQP2DRigidMulti ( string path )
 

GeomPQP2DRigidMulti::~GeomPQP2DRigidMulti ( ) [inline, virtual]
 


Member Function Documentation

virtual bool GeomPQP2DRigidMulti::CollisionFree ( const MSLVector & q ) [virtual]
 

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

Reimplemented from GeomPQP2DRigid.

virtual double GeomPQP2DRigidMulti::DistanceComp ( const MSLVector & q ) [virtual]
 

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

Reimplemented from GeomPQP2DRigid.

virtual void GeomPQP2DRigidMulti::LoadRobot ( string path ) [virtual]
 

Reimplemented from GeomPQP2D.

void GeomPQP2DRigidMulti::SetTransformation ( const MSLVector & q )
 

Reimplemented from GeomPQP2DRigid.


Member Data Documentation

bool GeomPQP2DRigidMulti::SelfCollisionCheck
 


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.