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 16 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
BoundingBox< N >	getBodyBoundingBox () const
void	addObstaclesToShapeSpace (DualCoding::ShapeSpace &shs, const fmat::Transform &t=fmat::Transform())
	Debugging tool to make obstacles visible.
Protected Member Functions
void	addRobotObstacles (const KinematicJoint &j)
	Model the robot as a set of PlannerObstacles, based on its kinematic structure.
void	createBodyObstacle (const LinkComponent &j, const fmat::Transform &robotT)
void	addDisplayRobotObstacles (const KinematicJoint &j)
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 or local map obstacles
std::vector< PlannerObstacle < N > * >	displayWorldObstacles
	world map obstacles for display
std::vector< PlannerObstacle < N > * >	displayRobotObstacles
	robot obstacles for display

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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 82 of file ShapeSpacePlannerBase.h.

template<size_t N>

ShapeSpaceCollisionCheckerBase< N >::~ShapeSpaceCollisionCheckerBase

(

)

[virtual]

Definition at line 99 of file ShapeSpacePlannerBase.h.

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Member Function Documentation

template<size_t N>

void ShapeSpaceCollisionCheckerBase< N >::addDisplayRobotObstacles

(

const KinematicJoint &

j

)

[protected]

Referenced by ShapeSpaceCollisionCheckerBase< 3 >::addDisplayRobotObstacles(), and ShapeSpaceCollisionCheckerBase< 2 >::addDisplayRobotObstacles().

template<size_t N>

void ShapeSpaceCollisionCheckerBase< N >::addObstaclesToShapeSpace	(	DualCoding::ShapeSpace &	shs,
		const fmat::Transform &	t = fmat::Transform()
	)

Debugging tool to make obstacles visible.

template<size_t N>

void ShapeSpaceCollisionCheckerBase< N >::addRobotObstacles

(

const KinematicJoint &

j

)

[protected]

Model the robot as a set of PlannerObstacles, based on its kinematic structure.

Referenced by ShapeSpaceCollisionCheckerBase< 3 >::addRobotObstacles(), ShapeSpaceCollisionCheckerBase< 2 >::addRobotObstacles(), and ShapeSpaceCollisionCheckerBase< N >::ShapeSpaceCollisionCheckerBase().

template<size_t N>

void ShapeSpaceCollisionCheckerBase< N >::createBodyObstacle	(	const LinkComponent &	j,
		const fmat::Transform &	robotT
	)			[protected]

Referenced by ShapeSpaceCollisionCheckerBase< 3 >::addRobotObstacles().

template<size_t N>

BoundingBox< N > ShapeSpaceCollisionCheckerBase< N >::getBodyBoundingBox

(

)

const

Definition at line 69 of file ShapeSpacePlannerBase.h.

Referenced by ShapeSpacePlannerXYTheta::planPath().

template<size_t N>

BoundingBox< N > ShapeSpaceCollisionCheckerBase< N >::getObstacleBoundingBox

(

)

const

Definition at line 56 of file ShapeSpacePlannerBase.h.

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

template<size_t N>

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

(

)

const

Definition at line 46 of file ShapeSpacePlannerBase.h.

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

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Member Data Documentation

template<size_t N>

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

robot obstacles for display

Definition at line 30 of file ShapeSpacePlannerBase.h.

Referenced by ShapeSpaceCollisionCheckerBase< 2 >::addDisplayRobotObstacles(), and ShapeSpaceCollisionCheckerBase< N >::~ShapeSpaceCollisionCheckerBase().

template<size_t N>

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

world map obstacles for display

Definition at line 27 of file ShapeSpacePlannerBase.h.

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

template<size_t N>

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

Amount in mm to add to obstacle bounding shape.

Definition at line 21 of file ShapeSpacePlannerBase.h.

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

template<size_t N>

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

world or local map obstacles

Definition at line 24 of file ShapeSpacePlannerBase.h.

Referenced by ShapeSpaceCollisionCheckerBase< 2 >::addRobotObstacles(), ShapeSpaceCollisionCheckerBase< 3 >::createBodyObstacle(), ShapeSpaceCollisionCheckerBase< N >::getBodyBoundingBox(), 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 19 of file ShapeSpacePlannerBase.h.

Referenced by ShapeSpaceCollisionCheckerBase< 3 >::getWorldBounds().

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

• ShapeSpacePlannerBase.h