#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 vector &q) = 0 |
Return true if the robot(s) and obstacles are not in collision. | |
virtual double | DistanceComp (const vector &q) = 0 |
Compute the distance of the closest point on the robot to the obstacle region. | |
virtual list<polygon> | EnvironmentToLedaPolygons () = 0 |
This is included for backwards compatibility, and will be removed one day. | |
virtual list<polygon> | RobotToLedaPolygons (const vector &q) = 0 |
This is included for backwards compatibility, and will be removed one day. | |
virtual vector | ConfigurationDifference (const vector &q1, const vector &q2) |
Compute a vector based on q2-q1. In R^n, the configurations are simply subtracted to make the vector. This method exists to make things work correctly for other configuration-space 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. | |
vector | 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. Currently, there are classes for 2D and 3D models, and two collision detection methods: one uses LEDA primitives, and the other uses the PQP collision detection package from the Univ. of North Carolina.
A configuration vector specifies the positions and orientation of each rigid body.
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Empty constructor in base class.
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Empty destructor.
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Return true if the robot(s) and obstacles are not in collision.
Reimplemented in GeomLedaPolygonal, GeomLedaPolygonalRigid, GeomPQP, GeomPQP2DPoint, GeomPQP2DRigid, GeomPQP2DRigidMulti, GeomPQP3DRigid, and GeomPQP3DRigidMulti. |
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Compute a vector based on q2-q1. In R^n, the configurations are simply subtracted to make the vector. This method exists to make things work correctly for other configuration-space topologies.
Reimplemented in GeomLedaPolygonalRigid, GeomPQP2DRigid, and GeomPQP3DRigid. |
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Compute the distance of the closest point on the robot to the obstacle region.
Reimplemented in GeomLedaPolygonal, GeomLedaPolygonalRigid, GeomPQP, GeomPQP2DPoint, GeomPQP2DRigid, GeomPQP2DRigidMulti, GeomPQP3DRigid, and GeomPQP3DRigidMulti. |
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This is included for backwards compatibility, and will be removed one day.
Reimplemented in GeomLedaPolygonal, GeomPQP, and GeomPQP2D. |
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This is included for backwards compatibility, and will be removed one day.
Reimplemented in GeomLedaPolygonal, GeomLedaPolygonalRigid, GeomPQP, and GeomPQP2DRigid. |
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The dimension of the world geometry: 2 or 3.
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Maximum displacement of geometry with respect to change in each variable.
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The number of rigid bodies in the geometry model.
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