1 #ifndef RANDOMIZED_SELF_COLLISIONS_H 2 #define RANDOMIZED_SELF_COLLISIONS_H 4 #include <KrisLibrary/structs/array2d.h> 5 #include "Modeling/Robot.h" void RandomizedSelfCollisionPairs(RobotWithGeometry &robot, Array2D< bool > &collision, int numSamples)
Calculates a bit-matrix of potential collision pairs using random sampling.
void RandomizedIndependentSelfCollisionPairs(RobotWithGeometry &robot, Array2D< bool > &collision, int numSamples)
Calculates the bit-matrix of potential independent collision pairs.
void RandomizedSelfCollisionDistances(RobotWithGeometry &robot, Array2D< Real > &minDistance, Array2D< Real > &maxDistance, int numSamples)
Calculates the min/max distance matrix of collision pairs.
