An abstract collision checker. More...
#include <base.h>
Public Member Functions | |
| virtual int | cc_update_insert_vertex (vertex_t *vertex_in)=0 |
| Update function for vertex insertion. | |
| virtual int | cc_update_insert_edge (edge_t *edge_in)=0 |
| Update function for edge insertion. | |
| virtual int | cc_update_delete_vertex (vertex_t *vertex_in)=0 |
| Update function for vertex deletion. | |
| virtual int | cc_update_delete_edge (edge_t *edge_in)=0 |
| Update function for edge insertion. | |
| virtual int | check_collision_state (state_t *state_in)=0 |
| Checks whether a given state is collision free. | |
| virtual int | check_collision_trajectory (trajectory_t *trajectory_in)=0 |
| Checks whether a given trajectory is collision free. | |
An abstract collision checker.
The collision checker function provides the following two functions: check whether a given state is collision-free, and check whether a given trajectory is collision free. The collision check function can be thought of as a generic check as to whether or not the new trajectory is suitable to be included in the graph.
| virtual int smp::collision_checker_base< typeparams >::cc_update_delete_edge | ( | edge_t * | edge_in | ) | [pure virtual] |
Update function for edge insertion.
This function is called by the planner whenever an edge is delete from the graph. A pointer to the edge is given as an argument.
| edge_in | A pointer to deleted edge. |
Implemented in smp::collision_checker_mu_calculus< typeparams, NUM_DIMENSIONS >, and smp::collision_checker_standard< typeparams, NUM_DIMENSIONS >.
| virtual int smp::collision_checker_base< typeparams >::cc_update_delete_vertex | ( | vertex_t * | vertex_in | ) | [pure virtual] |
Update function for vertex deletion.
This function is called by the planner whenever a vertex is deleted from the graph. A pointer to the vertex is given as an argument.
| vertex_in | A pointer to deleted vertex. |
Implemented in smp::collision_checker_mu_calculus< typeparams, NUM_DIMENSIONS >, and smp::collision_checker_standard< typeparams, NUM_DIMENSIONS >.
| virtual int smp::collision_checker_base< typeparams >::cc_update_insert_edge | ( | edge_t * | edge_in | ) | [pure virtual] |
Update function for edge insertion.
This function is called by the planner whenever a new edge is added to the graph. A pointer to the new edge is given as an argument.
| edge_in | A pointer to the new edge. |
Implemented in smp::collision_checker_mu_calculus< typeparams, NUM_DIMENSIONS >, and smp::collision_checker_standard< typeparams, NUM_DIMENSIONS >.
| virtual int smp::collision_checker_base< typeparams >::cc_update_insert_vertex | ( | vertex_t * | vertex_in | ) | [pure virtual] |
Update function for vertex insertion.
This function is called by the planner whenever a new vertex is added to the graph. A pointer to the new vertex is given as an argument.
| vertex_in | A pointer to the new vertex. |
Implemented in smp::collision_checker_mu_calculus< typeparams, NUM_DIMENSIONS >, and smp::collision_checker_standard< typeparams, NUM_DIMENSIONS >.
| virtual int smp::collision_checker_base< typeparams >::check_collision_state | ( | state_t * | state_in | ) | [pure virtual] |
Checks whether a given state is collision free.
| state_in | The state that will be checked for collision. |
Implemented in smp::collision_checker_mu_calculus< typeparams, NUM_DIMENSIONS >, and smp::collision_checker_standard< typeparams, NUM_DIMENSIONS >.
| virtual int smp::collision_checker_base< typeparams >::check_collision_trajectory | ( | trajectory_t * | trajectory_in | ) | [pure virtual] |
Checks whether a given trajectory is collision free.
| trajectory_in | The trajectory that will be checked for collision. |
Implemented in smp::collision_checker_mu_calculus< typeparams, NUM_DIMENSIONS >, and smp::collision_checker_standard< typeparams, NUM_DIMENSIONS >.
