ShapeSpaceCollisionCheckerBase< N > Class Template Reference

Base class for doing collision checking in world shape space. More...

#include <ShapeSpacePlannerBase.h>

Inheritance diagram for ShapeSpaceCollisionCheckerBase< N >:

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Detailed Description

template<size_t N>
class ShapeSpaceCollisionCheckerBase< N >

Base class for doing collision checking in world shape space.

Definition at line 14 of file ShapeSpacePlannerBase.h.

List of all members.

Public Member Functions
	ShapeSpaceCollisionCheckerBase (ShapeSpace &shs, const Shape< PolygonData > &_worldBounds, float _inflation)
virtual	~ShapeSpaceCollisionCheckerBase ()
const Shape< PolygonData >	getWorldBounds () const
BoundingBox< N >	getObstacleBoundingBox () const
void	getRobotObstacle (const KinematicJoint &j, HierarchicalObstacle &hierObs) const
	create a HierarchicalObstacle to model the robot for collision detection
void	addObstacleFromCollisionModel (const LinkComponent &j, const fmat::Transform &robotT, HierarchicalObstacle &hierObs) const
void	addObstaclesToShapeSpace (DualCoding::ShapeSpace &shs) const
	Debugging tool to make obstacles visible.
Protected Attributes
DualCoding::Shape < DualCoding::PolygonData >	worldBounds
	world bounds, must be closed to be used
float const	inflation
	Amount in mm to add to obstacle bounding shape.
std::vector< PlannerObstacle < N > * >	obstacles
	world map obstacles

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Constructor & Destructor Documentation

template<size_t N>

ShapeSpaceCollisionCheckerBase< N >::ShapeSpaceCollisionCheckerBase	(	ShapeSpace &	shs,
		const Shape< PolygonData > &	_worldBounds,
		float	_inflation
	)

Definition at line 56 of file ShapeSpacePlannerBase.h.

template<size_t N>

ShapeSpaceCollisionCheckerBase< N >::~ShapeSpaceCollisionCheckerBase

(

)

[virtual]

Definition at line 69 of file ShapeSpacePlannerBase.h.

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Member Function Documentation

template<size_t N>

void ShapeSpaceCollisionCheckerBase< N >::addObstacleFromCollisionModel	(	const LinkComponent &	j,
		const fmat::Transform &	robotT,
		HierarchicalObstacle &	hierObs
	)			const

Definition at line 119 of file ShapeSpacePlannerBase.h.

template<size_t N>

void ShapeSpaceCollisionCheckerBase< N >::addObstaclesToShapeSpace

(

DualCoding::ShapeSpace &

shs

)

const

Debugging tool to make obstacles visible.

template<size_t N>

BoundingBox< N > ShapeSpaceCollisionCheckerBase< N >::getObstacleBoundingBox

(

)

const

Definition at line 44 of file ShapeSpacePlannerBase.h.

Referenced by ShapeSpacePlannerXYTheta::planPath(), and ShapeSpacePlannerXY::planPath().

template<size_t N>

void ShapeSpaceCollisionCheckerBase< N >::getRobotObstacle	(	const KinematicJoint &	j,
		HierarchicalObstacle &	hierObs
	)			const

create a HierarchicalObstacle to model the robot for collision detection

Definition at line 99 of file ShapeSpacePlannerBase.h.

Referenced by ShapeSpacePlannerXYTheta::planPath().

template<size_t N>

const Shape<PolygonData> ShapeSpaceCollisionCheckerBase< N >::getWorldBounds

(

)

const

Definition at line 26 of file ShapeSpacePlannerBase.h.

Referenced by ShapeSpacePlannerXYTheta::planPath(), and ShapeSpacePlannerXY::planPath().

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Member Data Documentation

template<size_t N>

float const ShapeSpaceCollisionCheckerBase< N >::inflation [protected]

Amount in mm to add to obstacle bounding shape.

Definition at line 14 of file ShapeSpacePlannerBase.h.

Referenced by ShapeSpaceCollisionCheckerBase< N >::ShapeSpaceCollisionCheckerBase().

template<size_t N>

std::vector<PlannerObstacle<N>*> ShapeSpaceCollisionCheckerBase< N >::obstacles [protected]

world map obstacles

Definition at line 17 of file ShapeSpacePlannerBase.h.

Referenced by ShapeSpaceCollisionCheckerBase< N >::getObstacleBoundingBox(), ShapeSpaceCollisionCheckerBase< N >::ShapeSpaceCollisionCheckerBase(), and ShapeSpaceCollisionCheckerBase< N >::~ShapeSpaceCollisionCheckerBase().

template<size_t N>

DualCoding::Shape<DualCoding::PolygonData> ShapeSpaceCollisionCheckerBase< N >::worldBounds [protected]

world bounds, must be closed to be used

Definition at line 12 of file ShapeSpacePlannerBase.h.

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The documentation for this class was generated from the following file:

• ShapeSpacePlannerBase.h