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OpenRAVE::planningutils::LineCollisionConstraint Class Reference

Line collision. More...

#include <planningutils.h>

Collaboration diagram for OpenRAVE::planningutils::LineCollisionConstraint:
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Public Member Functions

 LineCollisionConstraint () RAVE_DEPRECATED
 
 LineCollisionConstraint (const std::list< KinBodyPtr > &listCheckCollisions, bool bCheckEnv=true)
 
virtual ~LineCollisionConstraint ()
 
virtual void SetUserCheckFunction (const boost::function< bool() > &usercheckfn, bool bCallAfterCheckCollision=false)
 set user check fucntions
 
virtual bool Check (PlannerBase::PlannerParametersWeakPtr _params, KinBodyPtr body, const std::vector< dReal > &pQ0, const std::vector< dReal > &pQ1, IntervalType interval, PlannerBase::ConfigurationListPtr pvCheckedConfigurations) RAVE_DEPRECATED
 
virtual bool Check (PlannerBase::PlannerParametersWeakPtr _params, const std::vector< dReal > &pQ0, const std::vector< dReal > &pQ1, IntervalType interval, PlannerBase::ConfigurationListPtr pvCheckedConfigurations)
 checks line collision. Uses the constructor's self-collisions
 
CollisionReportPtr GetReport () const
 

Protected Member Functions

virtual bool _CheckState ()
 

Protected Attributes

std::vector< dReal_vtempconfig
 
std::vector< dRealdQ
 
CollisionReportPtr _report
 
std::list< KinBodyPtr_listCheckSelfCollisions
 
bool _bCheckEnv
 
boost::array< boost::function
< bool() >, 2 > 
_usercheckfns
 

Detailed Description

Line collision.

Examples:
orplanning_door.cpp.

Definition at line 315 of file planningutils.h.

Constructor & Destructor Documentation

OpenRAVE::planningutils::LineCollisionConstraint::LineCollisionConstraint ( )

Definition at line 1423 of file planningutils.cpp.

OpenRAVE::planningutils::LineCollisionConstraint::LineCollisionConstraint ( const std::list< KinBodyPtr > &  listCheckCollisions,
bool  bCheckEnv = true 
)
Parameters
listCheckCollisionsinitialize with these bodies to check environment and self-collision with

Definition at line 1428 of file planningutils.cpp.

virtual OpenRAVE::planningutils::LineCollisionConstraint::~LineCollisionConstraint ( )
inlinevirtual

Definition at line 321 of file planningutils.h.

Member Function Documentation

bool OpenRAVE::planningutils::LineCollisionConstraint::_CheckState ( )
protectedvirtual

Definition at line 1438 of file planningutils.cpp.

bool OpenRAVE::planningutils::LineCollisionConstraint::Check ( PlannerBase::PlannerParametersWeakPtr  _params,
KinBodyPtr  body,
const std::vector< dReal > &  pQ0,
const std::vector< dReal > &  pQ1,
IntervalType  interval,
PlannerBase::ConfigurationListPtr  pvCheckedConfigurations 
)
virtual
Deprecated:
(12/04/23)
Examples:
orplanning_door.cpp.

Definition at line 1461 of file planningutils.cpp.

bool OpenRAVE::planningutils::LineCollisionConstraint::Check ( PlannerBase::PlannerParametersWeakPtr  _params,
const std::vector< dReal > &  pQ0,
const std::vector< dReal > &  pQ1,
IntervalType  interval,
PlannerBase::ConfigurationListPtr  pvCheckedConfigurations 
)
virtual

checks line collision. Uses the constructor's self-collisions

Definition at line 1583 of file planningutils.cpp.

CollisionReportPtr OpenRAVE::planningutils::LineCollisionConstraint::GetReport ( ) const
inline

Definition at line 336 of file planningutils.h.

void OpenRAVE::planningutils::LineCollisionConstraint::SetUserCheckFunction ( const boost::function< bool() > &  usercheckfn,
bool  bCallAfterCheckCollision = false 
)
virtual

set user check fucntions

Two functions can be set, one to be called before check collision and one after.

Parameters
bCallAfterCheckCollisionif set, function will be called after check collision functions.

Definition at line 1433 of file planningutils.cpp.

Member Data Documentation

bool OpenRAVE::planningutils::LineCollisionConstraint::_bCheckEnv
protected

Definition at line 346 of file planningutils.h.

std::list<KinBodyPtr> OpenRAVE::planningutils::LineCollisionConstraint::_listCheckSelfCollisions
protected

Definition at line 345 of file planningutils.h.

CollisionReportPtr OpenRAVE::planningutils::LineCollisionConstraint::_report
protected

Definition at line 344 of file planningutils.h.

boost::array< boost::function<bool() >, 2> OpenRAVE::planningutils::LineCollisionConstraint::_usercheckfns
protected

Definition at line 347 of file planningutils.h.

std::vector<dReal> OpenRAVE::planningutils::LineCollisionConstraint::_vtempconfig
protected

Definition at line 343 of file planningutils.h.

std::vector<dReal> OpenRAVE::planningutils::LineCollisionConstraint::dQ
protected

Definition at line 343 of file planningutils.h.


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