hpp-core: include/hpp/core/distance-between-objects.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

Loading...
Searching...
No Matches
distance-between-objects.hh
Go to the documentation of this file.
1//
2// Copyright (c) 2014 CNRS
3// Authors: Florent Lamiraux
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28// DAMAGE.
29
30#ifndef HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH
31#define HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH
32
33#include <hpp/core/fwd.hh>
34
35namespace hpp {
36namespace core {
38 class DistanceBetweenObjects {
39 public:
40 DistanceBetweenObjects(const DevicePtr_t& robot);
44 void addObstacle(const CollisionObjectConstPtr_t& object);
46 void obstacles(const ObjectStdVector_t& obstacles);
48 void computeDistances();
50 const CollisionPairs_t& collisionPairs() const { return collisionPairs_; };
52 const DistanceResults_t& distanceResults() const { return distanceResults_; };
54
55 private:
56 DevicePtr_t robot_;
57 CollisionPairs_t collisionPairs_;
58 DistanceResults_t distanceResults_;
59};
60} // namespace core
61} // namespace hpp
62
63#endif // HPP_CORE_DISTANCE_BETWEEN_OBJECTS_HH
hpp::core::DistanceBetweenObjects
Computation of distances between pairs of objects.
Definition distance-between-objects.hh:38
hpp::core::DistanceBetweenObjects::obstacles
void obstacles(const ObjectStdVector_t &obstacles)
Add a list of obstacles.
hpp::core::DistanceBetweenObjects::computeDistances
void computeDistances()
Compute distances between pairs of objects stored in bodies.
hpp::core::DistanceBetweenObjects::distanceResults
const DistanceResults_t & distanceResults() const
Get result of distance computations.
Definition distance-between-objects.hh:52
hpp::core::DistanceBetweenObjects::DistanceBetweenObjects
DistanceBetweenObjects(const DevicePtr_t &robot)
hpp::core::DistanceBetweenObjects::collisionPairs
const CollisionPairs_t & collisionPairs() const
Get collision pairs.
Definition distance-between-objects.hh:50
hpp::core::DistanceBetweenObjects::addObstacle
void addObstacle(const CollisionObjectConstPtr_t &object)
fwd.hh
hpp
hpp::core::CollisionPairs_t
std::vector< CollisionPair_t > CollisionPairs_t
Definition fwd.hh:239
hpp::core::ObjectStdVector_t
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition fwd.hh:184
hpp::core::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:134
hpp::core::DistanceResults_t
pinocchio::DistanceResults_t DistanceResults_t
Definition fwd.hh:143
hpp::core::CollisionObjectConstPtr_t
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition fwd.hh:100