hpp-core
5.2.0
Implement basic classes for canonical path planning for kinematic chains.
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30 #ifndef HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH
31 #define HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH
63 #endif // HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH
pinocchio::DistanceResults_t DistanceResults_t
Definition: fwd.hh:143
DistanceBetweenObjects(const DevicePtr_t &robot)
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:184
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:50
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:100
Computation of distances between pairs of objects.
Definition: distance-between-objects.hh:38
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:239
Definition: bi-rrt-planner.hh:35
const DistanceResults_t & distanceResults() const
Get result of distance computations.
Definition: distance-between-objects.hh:52
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
void computeDistances()
Compute distances between pairs of objects stored in bodies.