A structure containing settings that should be used for collision detection, contact solving, etc. Also performs modified collision checking with enabled/disabled collision checking between different objects. More...

#include <PlannerSettings.h>

Public Member Functions
void	InitializeDefault (WorldModel &world)
	Initializes the structure with default settings.

bool	CheckCollision (WorldModel &world, int id1, int id2=-1, Real tol=0)

bool	CheckCollision (WorldModel &world, Geometry::AnyCollisionGeometry3D *mesh, int id=-1, Real tol=0)
	Same as the other CheckCollision, except a collision geometry is given.

pair< int, int >	CheckCollision (WorldModel &world, const vector< int > &ids, Real tol=0)

pair< int, int >	CheckCollision (WorldModel &world, const vector< int > &ids1, const vector< int > &ids2, Real tol=0)

Real	DistanceLowerBound (WorldModel &world, int id1, int id2=-1, Real eps=0, Real bound=Inf)

Real	DistanceLowerBound (WorldModel &world, Geometry::AnyCollisionGeometry3D *mesh, int id, Real eps=0, Real bound=Inf)

Real	DistanceLowerBound (WorldModel &world, const vector< int > &ids, Real eps=0, Real bound=Inf, int closest1=NULL, int closest2=NULL)

Real	DistanceLowerBound (WorldModel &world, const vector< int > &ids1, const vector< int > &ids2, Real eps=0, Real bound=Inf, int closest1=NULL, int closest2=NULL)

void	EnumerateCollisionPairs (WorldModel &world, vector< pair< int, int > > &pairs) const
	Returns a list of object IDs that can potentially collide.

void	EnumerateCollisionQueries (WorldModel &world, int id1, int id2, vector< pair< int, int > > &pairs, vector< Geometry::AnyCollisionQuery > &queries)

void	EnumerateCollisionQueries (WorldModel &world, Geometry::AnyCollisionGeometry3D *mesh, int id, vector< int > &checkedIDs, vector< Geometry::AnyCollisionQuery > &queries)
	Same as EnumerateCollisionQueries, but a collision geometry is given.

Public Attributes
Array2D< bool >	collisionEnabled

vector< RobotPlannerSettings >	robotSettings

vector< ObjectPlannerSettings >	objectSettings

vector< TerrainPlannerSettings >	terrainSettings

Detailed Description

A structure containing settings that should be used for collision detection, contact solving, etc. Also performs modified collision checking with enabled/disabled collision checking between different objects.

Make sure to call world.UpdateGeometry() before using the CheckCollision and DistanceLowerBound routines.

Member Function Documentation

bool Klampt::WorldPlannerSettings::CheckCollision	(	WorldModel &	world,
		int	id1,
		int	id2 = `-1`,
		Real	tol = `0`
	)

Checks collision with the given object id1, and optionally a second object id2. The default id2=-1 indicates checking with all other objects. tol indicates an extra collision margin on top of the custom collision margins.

Note that if id1 indicates a robot and id2 is -1, the robot is checked against for self collisions AND collisions with all non-robot objects

pair<int,int> Klampt::WorldPlannerSettings::CheckCollision	(	WorldModel &	world,
		const vector< int > &	ids,
		Real	tol = `0`
	)

Checks self-collisions of all objects in a set of objects. tol indicates an extra collision margin on top of the custom collision margins. Returns (-1,-1) if no collisions are found, or the pair of ids of the first colliding objects.

pair<int,int> Klampt::WorldPlannerSettings::CheckCollision	(	WorldModel &	world,
		const vector< int > &	ids1,
		const vector< int > &	ids2,
		Real	tol = `0`
	)

Checks collisions between all objects in set 1 against those of set 2. tol indicates an extra collision margin on top of the custom collision margins. Returns (-1,-1) if no collisions are found, or the pair of ids of the first colliding objects.

Real Klampt::WorldPlannerSettings::DistanceLowerBound	(	WorldModel &	world,
		int	id1,
		int	id2 = `-1`,
		Real	eps = `0`,
		Real	bound = `Inf`
	)

Returns a distance, with the possibility of early termination if the closest object is farther than the given bound. eps is a distance error tolerance passed to the distance query.

Real Klampt::WorldPlannerSettings::DistanceLowerBound	(	WorldModel &	world,
		Geometry::AnyCollisionGeometry3D *	mesh,
		int	id,
		Real	eps = `0`,
		Real	bound = `Inf`
	)

Same as the other DistanceLowerBound, except a collision geometry is given.

Real Klampt::WorldPlannerSettings::DistanceLowerBound	(	WorldModel &	world,
		const vector< int > &	ids,
		Real	eps = `0`,
		Real	bound = `Inf`,
		int *	closest1 = `NULL`,
		int *	closest2 = `NULL`
	)

Returns a self-distance for all pairs in a set of objects, with the possibility of early termination if the closest pair of objects in the set is farther than the given bound. If closest1 and closest2 != NULL, they are set to the object pair that yielded the minimum distance.

Real Klampt::WorldPlannerSettings::DistanceLowerBound	(	WorldModel &	world,
		const vector< int > &	ids1,
		const vector< int > &	ids2,
		Real	eps = `0`,
		Real	bound = `Inf`,
		int *	closest1 = `NULL`,
		int *	closest2 = `NULL`
	)

Returns a distance between two sets of objects, with the possibility of early termination if the closest pair of objects in the two sets is farther than the given bound. If closest1 and closest2 != NULL, they are set to the object pair that yielded the minimum distance.

void Klampt::WorldPlannerSettings::EnumerateCollisionQueries	(	WorldModel &	world,
		int	id1,
		int	id2,
		vector< pair< int, int > > &	pairs,
		vector< Geometry::AnyCollisionQuery > &	queries
	)

Enumerates all potentially colliding pairs of ids contained in the given objects, including robot self-collisions. id1=-1,id2=-1 may also be provided to retrieve all collision pairs.

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

PlannerSettings.h

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation