1 #ifndef GRID_2D_CSPACE_H 2 #define GRID_2D_CSPACE_H 4 #include "CSpaceHelpers.h" 5 #include <KrisLibrary/math3d/Circle2D.h> 6 #include <KrisLibrary/math3d/Triangle2D.h> 7 #include <KrisLibrary/math3d/AABB2D.h> 22 void Add(
const Triangle2D& tri,
bool obstacle=
true);
23 void Add(
const AABB2D& bbox,
bool obstacle=
true);
25 void Add(
const Circle2D& sphere,
bool obstacle=
true);
26 void Rasterize(
CSpace* space);
29 virtual void SampleNeighborhood(
const Config& c,Real r,
Config& x);
30 virtual EdgePlannerPtr PathChecker(
const InterpolatorPtr& b);
34 std::shared_ptr<Tabular2DSet> occupied;
A 2D circle class.
Definition: Circle2D.h:16
A simple CSpace that lets you add geometric obstacles as blocked off grid cells.
Definition: Grid2DCSpace.h:16
A 2D triangle class.
Definition: Triangle2D.h:25
Vector Config
an alias for Vector
Definition: RobotKinematics3D.h:14
Motion planning configuration space base class. The configuration space implements an interpolation s...
Definition: CSpace.h:39
Contains all the definitions in the Math3D package.
Definition: AnyGeometry.h:13
A 2D vector class.
Definition: math3d/primitives.h:41
A 2D axis-aligned bounding box.
Definition: AABB2D.h:13
Definition: CSpaceHelpers.h:63