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GeomPQP3DRigid Class Reference

3D rigid body. More...

#include <geomPQP.h>

Inheritance diagram for GeomPQP3DRigid:

GeomPQP Geom GeomPQP3DRigidMulti List of all members.

Public Methods

 GeomPQP3DRigid (string path)
virtual ~GeomPQP3DRigid ()
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 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.

void SetTransformation (const vector &q)

Detailed Description

3D rigid body.


Constructor & Destructor Documentation

GeomPQP3DRigid::GeomPQP3DRigid ( string path = "" )
 

GeomPQP3DRigid::~GeomPQP3DRigid ( ) [inline, virtual]
 


Member Function Documentation

bool GeomPQP3DRigid::CollisionFree ( const vector & q ) [virtual]
 

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

Reimplemented from GeomPQP.

Reimplemented in GeomPQP3DRigidMulti.

vector GeomPQP3DRigid::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 GeomPQP3DRigid::DistanceComp ( const vector & q ) [virtual]
 

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

Reimplemented from GeomPQP.

Reimplemented in GeomPQP3DRigidMulti.

void GeomPQP3DRigid::SetTransformation ( const vector & q )
 

Reimplemented in GeomPQP3DRigidMulti.


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.