Klamp't  0.8.1
Public Member Functions | Public Attributes | List of all members
SelfCollisionConstraint Struct Reference

#include <NumericalConstraint.h>

Inheritance diagram for SelfCollisionConstraint:

Public Member Functions

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

Public Attributes

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

Detailed Description


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