Klamp't
0.9.0
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A configuration space for a rigid object, treated like a robot. More...
#include <RobotCSpace.h>
Public Member Functions | |
SingleRigidObjectCSpace (WorldModel &world, int index, WorldPlannerSettings *settings) | |
RigidObjectModel * | GetObject () const |
virtual EdgePlannerPtr | PathChecker (const Config &a, const Config &b) override |
void | IgnoreCollisions (int id) |
Ignores collisino between this object and world ID id. | |
void | Init () |
bool | UpdateGeometry (const Config &x) |
Public Attributes | |
WorldModel & | world |
int | index |
WorldPlannerSettings * | settings |
vector< pair< int, int > > | collisionPairs |
vector< Geometry::AnyCollisionQuery > | collisionQueries |
bool | constraintsDirty |
A configuration space for a rigid object, treated like a robot.
For compatibility with GeneralizedRobot, the configuration is (x,y,z,rz,ry,rx).