The abstract collision checker. More...
#include <smp/planner_utils/trajectory.h>#include <smp/planner_utils/vertex_edge.h>Go to the source code of this file.
Classes | |
| class | smp::collision_checker_base< typeparams > |
| An abstract collision checker. More... | |
Namespaces | |
| namespace | smp |
Sampling-based Motion Planning (SMP) Library. | |
The 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.