1 #ifndef PLANNER_SETTINGS_H 2 #define PLANNER_SETTINGS_H 5 #include <KrisLibrary/structs/array2d.h> 6 #include <KrisLibrary/geometry/CollisionMesh.h> 7 #include <KrisLibrary/utils/PropertyMap.h> 57 bool CheckCollision(
WorldModel& world,
int id1,
int id2=-1,Real tol=0);
59 bool CheckCollision(
WorldModel& world,Geometry::AnyCollisionGeometry3D* mesh,
int id=-1,Real tol=0);
65 pair<int,int> CheckCollision(
WorldModel& world,
const vector<int>& ids,Real tol=0);
70 pair<int,int> CheckCollision(
WorldModel& world,
const vector<int>& ids1,
const vector<int>& ids2,Real tol=0);
75 Real DistanceLowerBound(
WorldModel& world,
int id1,
int id2=-1,Real eps=0,Real bound=Inf);
78 Real DistanceLowerBound(
WorldModel& world,Geometry::AnyCollisionGeometry3D* mesh,
int id,Real eps=0,Real bound=Inf);
84 Real DistanceLowerBound(
WorldModel& world,
const vector<int>& ids,Real eps=0,Real bound=Inf,
int* closest1=NULL,
int* closest2=NULL);
89 Real DistanceLowerBound(
WorldModel& world,
const vector<int>& ids1,
const vector<int>& ids2,Real eps=0,Real bound=Inf,
int* closest1=NULL,
int* closest2=NULL);
92 void EnumerateCollisionPairs(
WorldModel& world,vector<pair<int,int> >& pairs)
const;
96 void EnumerateCollisionQueries(
WorldModel& world,
int id1,
int id2,
97 vector<pair<int,int> >& pairs,
98 vector<Geometry::AnyCollisionQuery>& queries);
100 void EnumerateCollisionQueries(
WorldModel& world,Geometry::AnyCollisionGeometry3D* mesh,
int id,
101 vector<int>& checkedIDs,
102 vector<Geometry::AnyCollisionQuery>& queries);
104 Array2D<bool> collisionEnabled;
105 vector<RobotPlannerSettings> robotSettings;
106 vector<ObjectPlannerSettings> objectSettings;
107 vector<TerrainPlannerSettings> terrainSettings;
AABB3D worldBounds
base position sampling range for free-floating robots
Definition: PlannerSettings.h:15
A structure containing settings that should be used for collision detection, contact solving...
Definition: PlannerSettings.h:43
PropertyMap properties
other properties
Definition: PlannerSettings.h:18
Real collisionEpsilon
threshold for edge feasibility checks
Definition: PlannerSettings.h:13
bool touchable
true if its allowed to be touched
Definition: PlannerSettings.h:23
AABB3D worldBounds
for translation
Definition: PlannerSettings.h:26
Real rotationWeight
for distance metric
Definition: PlannerSettings.h:25
Defines the WorldModel class.
Definition: PlannerSettings.h:30
Real collisionEpsilon
threshold for edge feasibility checks
Definition: PlannerSettings.h:24
Definition: PlannerSettings.h:21
PropertyMap properties
other properties
Definition: PlannerSettings.h:27
int contactIKMaxIters
max iters for contact solving
Definition: PlannerSettings.h:17
bool touchable
true if its allowed to be touched
Definition: PlannerSettings.h:32
PropertyMap properties
other properties
Definition: PlannerSettings.h:33
Real contactEpsilon
convergence threshold for contact solving
Definition: PlannerSettings.h:16
Definition: PlannerSettings.h:11
Definition: ContactDistance.h:6
Vector distanceWeights
for non-euclidean distance metric
Definition: PlannerSettings.h:14
The main world class containing multiple robots, objects, and static geometries (terrains). Lights and other viewport information may also be stored here.
Definition: World.h:24