Klamp't  0.9.0
Public Member Functions | Public Attributes | List of all members
Klampt::SelfCollisionConstraint Struct Reference

#include <NumericalConstraint.h>

Inheritance diagram for Klampt::SelfCollisionConstraint:

Public Member Functions

 SelfCollisionConstraint (RobotModel &robot)
virtual string Label () const override
virtual string Label (int i) const override
virtual int NumDimensions () const override
virtual void PreEval (const Vector &x) override
virtual void Eval (const Vector &x, Vector &v) override
virtual Real Eval_i (const Vector &x, int i) override
virtual void Jacobian (const Vector &x, Matrix &J) override
virtual void Jacobian_i (const Vector &x, int i, Vector &Ji) override
virtual void Hessian_i (const Vector &x, int i, Matrix &Hi) override
virtual bool Satisfies_i (const Vector &x, int i, Real d=Zero) override

Public Attributes

vector< pair< int, int > > collisionPairs
vector< DistanceQueryquery

Detailed Description


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