RandomizedSelfCollisions.h File Reference

Helper functions for computing potentially colliding pairs of links using random sampling. More...

#include <KrisLibrary/structs/array2d.h>
#include "Modeling/Robot.h"

Go to the source code of this file.

Functions
void	RandomizedSelfCollisionPairs (RobotWithGeometry &robot, Array2D< bool > &collision, int numSamples)
	Calculates a bit-matrix of potential collision pairs using random sampling. More...
void	RandomizedIndependentSelfCollisionPairs (RobotWithGeometry &robot, Array2D< bool > &collision, int numSamples)
	Calculates the bit-matrix of potential independent collision pairs. More...
void	RandomizedSelfCollisionDistances (RobotWithGeometry &robot, Array2D< Real > &minDistance, Array2D< Real > &maxDistance, int numSamples)
	Calculates the min/max distance matrix of collision pairs. More...

Detailed Description

Helper functions for computing potentially colliding pairs of links using random sampling.