Inheritance diagram for trajopt::CastCollisionEvaluator:

Public Types
typedef std::map< const OR::KinBody::Link *, int >	Link2Int

Public Member Functions
	CastCollisionEvaluator (ConfigurationPtr rad, const VarVector &vars0, const VarVector &vars1)

void	CalcDistExpressions (const DblVec &x, vector< AffExpr > &exprs)

void	CalcDists (const DblVec &x, DblVec &exprs)

void	CalcCollisions (const DblVec &x, vector< Collision > &collisions)

VarVector	GetVars ()

Public Member Functions inherited from trajopt::CollisionEvaluator
void	GetCollisionsCached (const DblVec &x, vector< Collision > &)

Public Attributes
OR::EnvironmentBasePtr	m_env

CollisionCheckerPtr	m_cc

ConfigurationPtr	m_rad

VarVector	m_vars0

VarVector	m_vars1

Link2Int	m_link2ind

vector< OR::KinBody::LinkPtr >	m_links

short	m_filterMask

Public Attributes inherited from trajopt::CollisionEvaluator
Cache< size_t, vector < Collision >, 3 >	m_cache

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

Public Types

Public Member Functions