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GeomLedaPolygonalRigid Class Reference

A rigid 2D robot in a polygonal world. More...

#include <geom.h>

Inheritance diagram for GeomLedaPolygonalRigid:

GeomLedaPolygonal Geom List of all members.

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.


Detailed Description

A rigid 2D robot in a polygonal world.


Constructor & Destructor Documentation

GeomLedaPolygonalRigid::GeomLedaPolygonalRigid ( string path = "" )
 

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


Member Function Documentation

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

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

Reimplemented from GeomLedaPolygonal.

vector GeomLedaPolygonalRigid::ConfigurationDifference ( const vector & q1,
const vector & q2 ) [virtual]
 

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.

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

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

Reimplemented from GeomLedaPolygonal.

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

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

Reimplemented from GeomLedaPolygonal.


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.