trajopt::CollisionChecker Class Reference

Each CollisionChecker object has a copy of the world, so for performance, don't make too many copies. More...

#include <collision_checker.hpp>

Inheritance diagram for trajopt::CollisionChecker:

Public Member Functions
virtual void	AllVsAll (vector< Collision > &collisions)=0
	check everything vs everything else
virtual void	LinkVsAll (const KinBody::Link &link, vector< Collision > &collisions, short filterMask)=0
	check link vs everything else
virtual void	LinksVsAll (const vector< KinBody::LinkPtr > &links, vector< Collision > &collisions, short filterMask)=0
void	BodyVsAll (const KinBody &body, vector< Collision > &collisions, short filterMask=-1)
	check robot vs everything else.
virtual void	SetContactDistance (float distance)=0
	contacts of distance < (arg) will be returned
virtual double	GetContactDistance ()=0
virtual void	PlotCollisionGeometry (vector< OpenRAVE::GraphHandlePtr > &)
virtual void	ContinuousCheckTrajectory (const TrajArray &traj, Configuration &rad, vector< Collision > &collisions)
virtual void	CastVsAll (Configuration &rad, const vector< KinBody::LinkPtr > &links, const DblVec &startjoints, const DblVec &endjoints, vector< Collision > &collisions)
	Find contacts between swept-out shapes of robot links and everything in the environment, as robot goes from startjoints to endjoints.
void	IgnoreZeroStateSelfCollisions ()
	Finds all self collisions when all joints are set to zero, and ignore collisions between the colliding links.
void	IgnoreZeroStateSelfCollisions (OpenRAVE::KinBodyPtr body)
virtual void	ExcludeCollisionPair (const KinBody::Link &link0, const KinBody::Link &link1)=0
	Prevent this pair of links from colliding.
OpenRAVE::EnvironmentBaseConstPtr	GetEnv ()

Static Public Member Functions
static boost::shared_ptr < CollisionChecker >	GetOrCreate (OR::EnvironmentBase &env)
	Get or create collision checker for this environment.

Protected Member Functions
	CollisionChecker (OpenRAVE::EnvironmentBaseConstPtr env)

Protected Attributes
OpenRAVE::EnvironmentBaseConstPtr	m_env

Detailed Description

Each CollisionChecker object has a copy of the world, so for performance, don't make too many copies.

Member Function Documentation

void trajopt::CollisionChecker::BodyVsAll ( const KinBody &  body, vector< Collision > &  collisions, short  filterMask = -1  )

inline

check robot vs everything else.

includes attached bodies

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

• /Users/joschu/Dropbox/Proj/trajopt/src/trajopt/collision_checker.hpp