Inheritance diagram for trajopt::SingleTimestepCollisionEvaluator:

Public Member Functions
	SingleTimestepCollisionEvaluator (ConfigurationPtr rad, const VarVector &vars)

void	CalcDistExpressions (const DblVec &x, vector< AffExpr > &exprs)
	linearize all contact distances in terms of robot dofs

void	CalcDists (const DblVec &x, DblVec &exprs)
	Same as CalcDistExpressions, but just the distances–not the expressions.

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_vars

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

Member Function Documentation

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

virtual

linearize all contact distances in terms of robot dofs

Do a collision check between robot and environment. For each contact generated, return a linearization of the signed distance function

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

Public Member Functions