hpp-core
4.12.0
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH
20 # define HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH
56 #endif // HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH
pinocchio::DistanceResults_t DistanceResults_t
Definition: fwd.hh:125
DistanceBetweenObjects(const DevicePtr_t &robot)
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:167
void addObstacle(const CollisionObjectConstPtr_t &object)
void obstacles(const ObjectStdVector_t &obstacles)
Add a list of obstacles.
const CollisionPairs_t & collisionPairs() const
Get collision pairs.
Definition: distance-between-objects.hh:41
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
Computation of distances between pairs of objects.
Definition: distance-between-objects.hh:27
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:221
Definition: bi-rrt-planner.hh:24
const DistanceResults_t & distanceResults() const
Get result of distance computations.
Definition: distance-between-objects.hh:44
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
void computeDistances()
Compute distances between pairs of objects stored in bodies.