klampt/krislibrary_docs/RigidRobot2DCSpace_8h_source.html

 #ifndef RIGID_ROBOT_2D_CSPACE_H
 #define RIGID_ROBOT_2D_CSPACE_H

 #include "Geometric2DCSpace.h"
 #include "RigidBodyCSpace.h"

 class RigidRobot2DCSpace : public SE2CSpace
 {
 public:
   RigidRobot2DCSpace();
   RigidRobot2DCSpace(const AABB2D& domain);
   void InitConstraints();
   void DrawWorkspaceGL() const;
   void DrawRobotGL(const Config& q) const;
   void DrawGL(const Config& q) const;

   virtual EdgePlannerPtr PathChecker(const Config& a,const Config& b);
   virtual EdgePlannerPtr PathChecker(const Config& a,const Config& b,int obstacle);
   virtual void Properties(PropertyMap&);

   Real visibilityEpsilon;
   Geometric2DCollection obstacles;
   Geometric2DCollection robot;
   AABB2D domain;
 };

 #endif
Geometric2DCollection
Definition: Geometric2DCSpace.h:10

Config
Vector Config
an alias for Vector
Definition: RobotKinematics3D.h:14

RigidRobot2DCSpace
a translating and rotating 2D robot in a 2D workspace.
Definition: RigidRobot2DCSpace.h:9

SE2CSpace
The space of rigid body transforms SE(2). Still need to implement IsFeasible, PathChecker.
Definition: RigidBodyCSpace.h:58

Math3D::AABB2D
A 2D axis-aligned bounding box.
Definition: AABB2D.h:13

PropertyMap
A simple map from keys to values.
Definition: PropertyMap.h:27

RigidRobot2DCSpace::Properties
virtual void Properties(PropertyMap &)
Returns properties of the space that might be useful for planners.
Definition: RigidRobot2DCSpace.cpp:84