Bounds the workspace of a robot linkage with a simple bound. More...

Public Member Functions
void	SetEmpty ()

void	SetFull ()

void	SetPoint (const Vector3 &)

void	SetArc (const Arc3D &)

void	SetCircle (const Circle3D &)

void	SetSphere (const Sphere3D &)

void	SetTransformed (const WorkspaceBound &, RigidTransform &T)

bool	SetIntersection (const WorkspaceBound &a, const WorkspaceBound &b)

bool	InplaceIntersection (const WorkspaceBound &b)

void	SetMinkowskiSum (const WorkspaceBound &a, const WorkspaceBound &b)

void	InplaceMinkowskiSum (const WorkspaceBound &b)

void	RemoveRedundancies ()

bool	IsEmpty () const

bool	IsFull () const

bool	IsBall () const

Real	GetWidth () const

void	GetBounds (AABB3D &) const

void	GetBounds (Sphere3D &) const

void	GetBounds (HollowBall &) const

bool	Contains (const Vector3 &pt) const

bool	Intersects (const Line3D &line, ClosedIntervalSet &intervals) const

bool	Intersects (const AxisSweptPoint &circle, AngleSet &arcs) const

bool	Intersects (const Arc3D &arc, AngleSet &arcs) const

Real	ClosestPoint (const Line3D &line) const

Real	ClosestPoint (const AxisSweptPoint &circle) const

Detailed Description

Bounds the workspace of a robot linkage with a simple bound.

The bound is currently an intersection of the (hollow) balls in balls. There's a crude angle bound called maxAngle that doesn't do very much.

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

Public Member Functions