1 #ifndef RIGID_ROBOT_2D_CSPACE_H 2 #define RIGID_ROBOT_2D_CSPACE_H 4 #include <KrisLibrary/geometry/AnyGeometry.h> 15 void DrawWorkspaceGL()
const;
16 void DrawRobotGL(
const Config& q)
const;
17 void DrawGL(
const Config& q)
const;
19 virtual int NumObstacles();
20 virtual std::string ObstacleName(
int obstacle);
21 virtual bool IsFeasible(
const Config& x);
22 virtual bool IsFeasible(
const Config& x,
int obstacle);
23 virtual EdgePlannerPtr PathChecker(
const InterpolatorPtr& path);
24 virtual EdgePlannerPtr PathChecker(
const InterpolatorPtr& path,
int obstacle);
27 std::vector<Geometry::AnyCollisionGeometry3D> obstacles;
Vector Config
an alias for Vector
Definition: RobotKinematics3D.h:14
a translating and rotating 3D robot in a 3D workspace.
Definition: RigidRobot3DCSpace.h:11
An AnyGeometry with collision detection information.
Definition: AnyGeometry.h:112
The space of rigid body transforms SE(3). Still need to implement IsFeasible, PathChecker.
Definition: RigidBodyCSpace.h:96
A simple map from keys to values.
Definition: PropertyMap.h:27