1 #ifndef MULTI_ROBOT_2D_CSPACE_H 2 #define MULTI_ROBOT_2D_CSPACE_H 4 #include "Geometric2DCSpace.h" 5 #include "RigidRobot2DCSpace.h" 6 #include "TranslatingRobot2DCSpace.h" 14 void DrawWorkspaceGL()
const;
16 void DrawRobotGL(
int index,
const Config& q)
const;
17 void DrawGL(
const Config& q)
const;
28 virtual void Sample(
Config& x);
29 virtual void SampleNeighborhood(
const Config& c,Real r,
Config& x);
30 virtual bool IsFeasible(
const Config& x);
31 virtual EdgePlannerPtr PathChecker(
const Config& a,
const Config& b);
36 Real angleDistanceWeight;
37 Real visibilityEpsilon;
40 vector<Geometric2DCollection> robots;
virtual Real Distance(const Config &x, const Config &y)
optionally overrideable (default uses euclidean space)
Definition: MultiRobot2DCSpace.cpp:181
Definition: Geometric2DCSpace.h:10
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
One or more 2D robots translating and/or rotating in a 2D workspace.
Definition: MultiRobot2DCSpace.h:10
A 2D axis-aligned bounding box.
Definition: AABB2D.h:13
A simple map from keys to values.
Definition: PropertyMap.h:27