00001 00008 #ifndef _SMP_COLLISION_CHECKER_STANDARD_H_ 00009 #define _SMP_COLLISION_CHECKER_STANDARD_H_ 00010 00011 #include <smp/components/collision_checkers/base.h> 00012 00013 #include <smp/common/region.h> 00014 00015 #include <list> 00016 00017 00018 namespace smp { 00019 00021 00033 template< class typeparams, int NUM_DIMENSIONS > 00034 class collision_checker_standard : public collision_checker_base<typeparams> { 00035 00036 00037 00038 typedef typename typeparams::state state_t; 00039 typedef typename typeparams::input input_t; 00040 typedef typename typeparams::vertex_data vertex_data_t; 00041 typedef typename typeparams::edge_data edge_data_t; 00042 00043 typedef vertex<typeparams> vertex_t; 00044 typedef edge<typeparams> edge_t; 00045 typedef trajectory<typeparams> trajectory_t; 00046 00047 typedef region<NUM_DIMENSIONS> region_t; 00048 00049 int num_discretization_steps; 00050 double discretization_length; 00051 00052 // 0: no discretization 00053 // 1: use steps discretization 00054 // 2: use length discretization 00055 int discretization_method; 00056 00057 list< region_t* > list_obstacles; 00058 00059 00060 public: 00061 collision_checker_standard (); 00062 ~collision_checker_standard (); 00063 00064 00065 int cc_update_insert_vertex (vertex_t *vertex_in); 00066 00067 00068 int cc_update_insert_edge (edge_t *edge_in); 00069 00070 00071 int cc_update_delete_vertex (vertex_t *vertex_in); 00072 00073 00074 int cc_update_delete_edge (edge_t *edge_in); 00075 00076 00077 int check_collision_state (state_t *state_in); 00078 00079 00080 int check_collision_trajectory (trajectory_t *trajectory_in); 00081 00082 00096 int set_discretization_steps (int num_discretization_steps_in); 00097 00098 00111 int set_discretization_length (double discretization_length_in); 00112 00113 00126 int add_obstacle (region_t &obstacle_in); 00127 00128 }; 00129 00130 00131 } 00132 00133 #endif
