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GeomLedaPolygonal Class Reference

A point robot in a polygonal world. More...

#include <geom.h>

Inheritance diagram for GeomLedaPolygonal:

Geom GeomLedaPolygonalRigid List of all members.

Public Methods

 GeomLedaPolygonal (string path)
virtual ~GeomLedaPolygonal ()
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> EnvironmentToLedaPolygons ()
 This is included for backwards compatibility, and will be removed one day.

virtual list<polygon> RobotToLedaPolygons (const vector &q)
 This is included for backwards compatibility, and will be removed one day.


Protected Attributes

list<polygon> Obst

Detailed Description

A point robot in a polygonal world.


Constructor & Destructor Documentation

GeomLedaPolygonal::GeomLedaPolygonal ( string path = "" )
 

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


Member Function Documentation

bool GeomLedaPolygonal::CollisionFree ( const vector & x ) [virtual]
 

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

Reimplemented from Geom.

Reimplemented in GeomLedaPolygonalRigid.

double GeomLedaPolygonal::DistanceComp ( const vector & x ) [virtual]
 

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

Reimplemented from Geom.

Reimplemented in GeomLedaPolygonalRigid.

list< polygon > GeomLedaPolygonal::EnvironmentToLedaPolygons ( ) [virtual]
 

This is included for backwards compatibility, and will be removed one day.

Reimplemented from Geom.

list< polygon > GeomLedaPolygonal::RobotToLedaPolygons ( const vector & q ) [virtual]
 

This is included for backwards compatibility, and will be removed one day.

Reimplemented from Geom.

Reimplemented in GeomLedaPolygonalRigid.


Member Data Documentation

list< polygon > GeomLedaPolygonal::Obst [protected]
 


The documentation for this class was generated from the following files: Motion Strategy Library


Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research, and Iowa State University.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.