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RRTNodeXY::CollisionChecker Class Reference

Collision checker to be called by RRT search algorithm. More...

#include <ShapeSpacePlannerXY.h>

Inheritance diagram for RRTNodeXY::CollisionChecker:

Detailed Description

Collision checker to be called by RRT search algorithm.

Definition at line 24 of file ShapeSpacePlannerXY.h.

List of all members.

Public Member Functions

 CollisionChecker (ShapeSpace &shs, const Shape< PolygonData > &_worldBounds, float _inflation, float _robotRadius)
virtual bool collides (const NodeValue_t &qnew, PlannerResult *result=NULL) const

Public Attributes

float robotRadius

Constructor & Destructor Documentation

RRTNodeXY::CollisionChecker::CollisionChecker ( ShapeSpace &  shs,
const Shape< PolygonData > &  _worldBounds,
float  _inflation,
float  _robotRadius 

Definition at line 26 of file ShapeSpacePlannerXY.h.

Member Function Documentation

bool RRTNodeXY::CollisionChecker::collides ( const NodeValue_t qnew,
ShapeSpacePlannerXY::PlannerResult result = NULL 
) const [virtual]

Definition at line 55 of file ShapeSpacePlannerXY.cc.

Referenced by RRTNodeXY::interpolate().

Member Data Documentation

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

Tekkotsu v5.1CVS
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