#include <geom.h>
Inheritance diagram for GeomLedaPolygonalRigid:
Public Methods | |
GeomLedaPolygonalRigid (string path) | |
virtual | ~GeomLedaPolygonalRigid () |
virtual bool | CollisionFree (const vector &q) |
Return true if the robot(s) and obstacles are not in collision. | |
virtual double | DistanceComp (const vector &q) |
Compute the distance of the closest point on the robot to the obstacle region. | |
virtual list<polygon> | RobotToLedaPolygons (const vector &q) |
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. |
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Return true if the robot(s) and obstacles are not in collision.
Reimplemented from GeomLedaPolygonal. |
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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 from Geom. |
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Compute the distance of the closest point on the robot to the obstacle region.
Reimplemented from GeomLedaPolygonal. |
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This is included for backwards compatibility, and will be removed one day.
Reimplemented from GeomLedaPolygonal. |