KrisLibrary  1.0.0
TranslatingRobot2DCSpace.h
1 #ifndef TRANSLATING_ROBOT_2D_CSPACE_H
2 #define TRANSLATING_ROBOT_2D_CSPACE_H
3 
4 #include "Geometric2DCSpace.h"
5 #include "CSpaceHelpers.h"
6 
10 {
11 public:
13  void InitConstraints();
14  void DrawWorkspaceGL() const;
15  void DrawRobotGL(const Config& x) const;
16  void DrawGL(const Config& q) const;
17 
18  virtual EdgePlannerPtr PathChecker(const Config& a,const Config& b);
19  virtual EdgePlannerPtr PathChecker(const Config& a,const Config& b,int obstacle);
20 
21  Real visibilityEpsilon;
22  Geometric2DCollection obstacles;
24  AABB2D domain;
25 };
26 
27 #endif
Definition: Geometric2DCSpace.h:10
Vector Config
an alias for Vector
Definition: RobotKinematics3D.h:14
a translating 2D robot in a 2D workspace.
Definition: TranslatingRobot2DCSpace.h:9
A 2D axis-aligned bounding box.
Definition: AABB2D.h:13
Definition: CSpaceHelpers.h:63