CD_BasicStyle Class Reference

#include <collisiondetectors/CD_BasicStyle.h>

Inherits CD_Linear, and CD_JointLimits.

Inherited by CD_Icollide, CD_Range_Sensor, CD_Simple, CD_Solid, CD_Swiftpp, and CD_Vcollide.

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List of all members.

Public Member Functions

 CD_BasicStyle (const Universe &universe)
 CD_BasicStyle (const CD_BasicStyle &right)
virtual ~CD_BasicStyle ()
FrameManager * GetFrameManager ()
virtual bool SetConfiguration (const Configuration &config)
virtual DH_Parameter JointType (const unsigned int jointNum) const
virtual unsigned int JointFrameNum (const unsigned int jointNum) const
virtual double JointMin (const unsigned int jointNum) const
virtual bool JointWraps (const unsigned int jointNum) const
virtual double JointMax (const unsigned int jointNum) const
virtual CollisionDetectorBase * Clone () const =0
virtual bool ShouldPerformCollisionCheck (unsigned int frameA, unsigned int frameB) const
virtual unsigned int DOF () const
virtual void DeactivateFrames (const unsigned int frame1, const unsigned int frame2)
virtual void ActivateFrames (const unsigned int frame1, const unsigned int frame2)
virtual void PermDeactivateFrames (const unsigned int frame1, const unsigned int frame2)
virtual void PermActivateFrames (const unsigned int frame1, const unsigned int frame2)
bool FramePairPermEnabled (const unsigned int frame1, const unsigned int frame2) const
void DeactivateAllFrames ()
std::vector< Entity * > GetAllElements () const
std::vector< LinkBase * > GetAllLinks () const
RobotBase * GetRobot (const int index) const

Protected Member Functions

virtual void PermActivateAll ()
virtual void PermDeactivateFramesWithThemselves ()
virtual void PermDeactivateAll ()

Protected Attributes

std::map< PairInt, bool > collisionMatrix
std::map< PairInt, bool > permCollisionMatrix
std::vector< Entity * > entities
std::vector< LinkBase * > links
FrameManager theFrameManager

Detailed Description

Definition at line 17 of file CD_BasicStyle.h.

Constructor & Destructor Documentation

CD_BasicStyle::CD_BasicStyle (  const Universe &  universe  ) 
 

Definition at line 8 of file CD_BasicStyle.cpp.

References entities, Universe::GetAllEntities(), Universe::GetFrameManager(), Entity::SetFrameManager(), theFrameManager, and CollisionDetectorBase::universe.

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CD_BasicStyle::CD_BasicStyle (  const CD_BasicStyle &  right  ) 
 

Definition at line 42 of file CD_BasicStyle.cpp.

References entities.

CD_BasicStyle::~CD_BasicStyle (   )  [virtual]
 

Definition at line 75 of file CD_BasicStyle.cpp.

References entities.

Member Function Documentation

void CD_BasicStyle::ActivateFrames (  const unsigned int  frame1,
const unsigned int  frame2
)  [virtual]
 

Reimplemented in CD_Solid, and CD_Vcollide.

Definition at line 255 of file CD_BasicStyle.cpp.

Referenced by CD_Vcollide::ActivateFrames(), CD_Swiftpp::ActivateFrames(), PL_Sandros::GenerateNewNodeGrid(), PermActivateFrames(), and PL_Sequential::plan_path_for_nth_link().

virtual CollisionDetectorBase* CD_BasicStyle::Clone (   )  const [pure virtual]
 

Implements CollisionDetectorBase.

Implemented in CD_Icollide, CD_Range_Sensor, CD_Simple, CD_Solid, CD_Swiftpp, and CD_Vcollide.

void CD_BasicStyle::DeactivateAllFrames (   ) 
 

Definition at line 350 of file CD_BasicStyle.cpp.

References DeactivateFrames(), and DOF().

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void CD_BasicStyle::DeactivateFrames (  const unsigned int  frame1,
const unsigned int  frame2
)  [virtual]
 

Reimplemented in CD_Solid, and CD_Vcollide.

Definition at line 221 of file CD_BasicStyle.cpp.

References collisionMatrix, and FramePairPermEnabled().

Referenced by DeactivateAllFrames(), CD_Vcollide::DeactivateFrames(), CD_Swiftpp::DeactivateFrames(), PL_Sandros::GenerateNewNodeGrid(), PermDeactivateFrames(), PL_Sequential::SetCollisionDetector(), PL_ForTest::SetCollisionDetector(), PL_PRM_ClosedJacobian::SetCollisionDetector(), PL_PRM_ClosedLocalJacobian::SetCollisionDetector(), PL_RRT_ClosedChain::SetCollisionDetector(), PL_RGD_PRM::SetCollisionDetector(), and PL_PRM_ClosedChain::SetCollisionDetector().

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unsigned int CD_BasicStyle::DOF (   )  const [virtual]
 

Implements CD_JointLimits.

Definition at line 214 of file CD_BasicStyle.cpp.

References links.

Referenced by DeactivateAllFrames(), PL_PrmIjg::DrawUniversePortion(), PL_Astar::ExpandNode(), PL_GraphBase::GenerateRandomConfig(), PL_MPEP::GetConfigurationByDirection(), PL_GraphBase::GetCspaceRange(), PL_PRM_ClosedBase::GetToolFrame(), PL_RGD_PRM::GetToolFrame(), PL_PRM_ClosedChain::GetToolFrame(), IK_Jacobian::IK_Jacobian(), IK_ACA::MinimizeDistance(), PL_GraphBase::NormDistWeight(), PermActivateAll(), PermDeactivateAll(), PermDeactivateFramesWithThemselves(), PL_Sandros::Plan(), PL_Sequential::SetCollisionDetector(), PL_GraphBase::SetCollisionDetector(), PL_MPEP::SetCollisionDetector(), IK_Jacobian::SetCollisionDetector(), PL_ForTest::SetCollisionDetector(), PL_PRM_ClosedAPDecomp::SetCollisionDetector(), PL_PRM_ClosedJacobian::SetCollisionDetector(), PL_PRM_ClosedLocalJacobian::SetCollisionDetector(), PL_RRT_ClosedChain::SetCollisionDetector(), PL_RGD_PRM::SetCollisionDetector(), PL_PRM_ClosedChain::SetCollisionDetector(), PL_Astar::SetCollisionDetector(), PL_Astar::SetDefaultStepSize(), and PL_MPEP::SetPassiveNum().

bool CD_BasicStyle::FramePairPermEnabled (  const unsigned int  frame1,
const unsigned int  frame2
)  const
 

Definition at line 331 of file CD_BasicStyle.cpp.

References permCollisionMatrix.

Referenced by CD_Vcollide::ActivateFrames(), CD_Swiftpp::ActivateFrames(), DeactivateFrames(), and PermActivateFrames().

std::vector< Entity * > CD_BasicStyle::GetAllElements (   )  const
 

Definition at line 421 of file CD_BasicStyle.cpp.

References entities.

Referenced by PL_ATACE::CreateTrajectoryCD().

std::vector< LinkBase * > CD_BasicStyle::GetAllLinks (   )  const
 

Definition at line 415 of file CD_BasicStyle.cpp.

References links.

FrameManager * CD_BasicStyle::GetFrameManager (   ) 
 

Definition at line 345 of file CD_BasicStyle.cpp.

References theFrameManager.

Referenced by IK_ACA::FindJointAdjust(), IK_InvKinBase::GetToolFrame(), PL_PRM_ClosedBase::GetToolFrame(), PL_RGD_PRM::GetToolFrame(), PL_PRM_ClosedChain::GetToolFrame(), PL_MPEP::SetCollisionDetector(), IK_Jacobian::SetCollisionDetector(), PL_ForTest::SetCollisionDetector(), PL_PRM_ClosedAPDecomp::SetCollisionDetector(), PL_PRM_ClosedJacobian::SetCollisionDetector(), and PL_RRT_ClosedChain::SetCollisionDetector().

RobotBase * CD_BasicStyle::GetRobot (  const int  index  )  const
 

Definition at line 429 of file CD_BasicStyle.cpp.

References entities.

Referenced by PL_PRM_ClosedBase::GetToolFrame(), PL_RGD_PRM::GetToolFrame(), PL_PRM_ClosedChain::GetToolFrame(), ServerBase::RefreshCollisionDetector(), CRedundant::SetCollisionDetector(), PL_MPEP::SetCollisionDetector(), IK_Jacobian::SetCollisionDetector(), IK_ACA::SetCollisionDetector(), PL_ForTest::SetCollisionDetector(), PL_PRM_ClosedJacobian::SetCollisionDetector(), PL_RRT_ClosedChain::SetCollisionDetector(), and PL_ATACE::SetCollisionDetector().

unsigned int CD_BasicStyle::JointFrameNum (  const unsigned int  jointNum  )  const [virtual]
 

Definition at line 147 of file CD_BasicStyle.cpp.

References links.

Referenced by IK_ACA::FindJointAdjust(), IK_InvKinBase::GetToolFrame(), PL_PRM_ClosedBase::GetToolFrame(), PL_RGD_PRM::GetToolFrame(), and PL_PRM_ClosedChain::GetToolFrame().

double CD_BasicStyle::JointMax (  const unsigned int  jointNum  )  const [virtual]
 

Implements CD_JointLimits.

Definition at line 127 of file CD_BasicStyle.cpp.

References links.

Referenced by PL_Astar::AlignJoint(), PL_Neural::ClampToJointLimits(), PL_Astar::ExpandNode(), PL_Sandros::GenerateNewNode(), PL_Sandros::GenerateNewNodeGrid(), PL_Range_Sensor::GenerateRandomConfig(), PL_PrmIjg::GenerateRandomConfig(), PL_GraphBase::GenerateRandomConfig(), PL_IanRandom::GenerateRandomConfig(), PL_Neural::GenerateRandomConfig(), PL_RRT_CONNECT::Get_random_config(), PL_RRT::Get_random_config(), PL_GraphBase::GetCspaceRange(), IK_ACA::MinimizeDistance(), PL_Juan::MyRandomPath(), PL_ACA_CONNECT::MyRandomPath(), PL_Sequential::Plan(), PL_SimplexSubdivision::Plan(), IK_ACA::Search1(), and PL_Astar::SetDefaultStepSize().

double CD_BasicStyle::JointMin (  const unsigned int  jointNum  )  const [virtual]
 

Implements CD_JointLimits.

Definition at line 117 of file CD_BasicStyle.cpp.

References links.

Referenced by IK_Jacobian::CheckJointLimits(), PL_Neural::ClampToJointLimits(), PL_Astar::ExpandNode(), PL_Sandros::GenerateNewNode(), PL_Sandros::GenerateNewNodeGrid(), PL_Range_Sensor::GenerateRandomConfig(), PL_PrmIjg::GenerateRandomConfig(), PL_GraphBase::GenerateRandomConfig(), PL_IanRandom::GenerateRandomConfig(), PL_Neural::GenerateRandomConfig(), PL_RRT_CONNECT::Get_random_config(), PL_RRT::Get_random_config(), PL_GraphBase::GetCspaceRange(), PL_MPEP::IsJointWithinLimits(), PL_ForTest::IsJointWithinLimits(), IK_ACA::MinimizeDistance(), PL_Juan::MyRandomPath(), PL_ACA_CONNECT::MyRandomPath(), PL_Sequential::Plan(), PL_SimplexSubdivision::Plan(), IK_ACA::Search1(), and PL_Astar::SetDefaultStepSize().

DH_Parameter CD_BasicStyle::JointType (  const unsigned int  jointNum  )  const [virtual]
 

Definition at line 138 of file CD_BasicStyle.cpp.

References links.

Referenced by IK_ACA::FindJointAdjust().

bool CD_BasicStyle::JointWraps (  const unsigned int  jointNum  )  const [virtual]
 

Implements CD_JointLimits.

Definition at line 154 of file CD_BasicStyle.cpp.

References links.

Referenced by PL_Astar::ExpandNode(), PL_GraphBase::GetCspaceRange(), and IK_ACA::MinimizeDistance().

void CD_BasicStyle::PermActivateAll (   )  [protected, virtual]
 

Definition at line 363 of file CD_BasicStyle.cpp.

References DOF(), and PermActivateFrames().

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void CD_BasicStyle::PermActivateFrames (  const unsigned int  frame1,
const unsigned int  frame2
)  [virtual]
 

Definition at line 312 of file CD_BasicStyle.cpp.

References ActivateFrames(), FramePairPermEnabled(), and permCollisionMatrix.

Referenced by PermActivateAll().

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void CD_BasicStyle::PermDeactivateAll (   )  [protected, virtual]
 

Definition at line 401 of file CD_BasicStyle.cpp.

References DOF(), and PermDeactivateFrames().

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void CD_BasicStyle::PermDeactivateFrames (  const unsigned int  frame1,
const unsigned int  frame2
)  [virtual]
 

Definition at line 277 of file CD_BasicStyle.cpp.

References DeactivateFrames(), and permCollisionMatrix.

Referenced by PermDeactivateAll(), and PermDeactivateFramesWithThemselves().

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void CD_BasicStyle::PermDeactivateFramesWithThemselves (   )  [protected, virtual]
 

Definition at line 391 of file CD_BasicStyle.cpp.

References DOF(), and PermDeactivateFrames().

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bool CD_BasicStyle::SetConfiguration (  const Configuration &  config  )  [virtual]
 

Reimplemented from CD_InterfaceToCollisionQueries.

Definition at line 96 of file CD_BasicStyle.cpp.

References IJG_Assert, VectorN::Length(), links, and CD_InterfaceToCollisionQueries::SetConfiguration().

Referenced by CRedundant::GetDesireFrameByConfiguration(), IK_InvKinBase::GetToolFrame(), PL_PRM_ClosedBase::GetToolFrame(), PL_RGD_PRM::GetToolFrame(), PL_PRM_ClosedChain::GetToolFrame(), CD_Vcollide::IsInterfering(), CD_Swiftpp::IsInterfering(), and CD_Swiftpp::QueryContactDetermination().

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bool CD_BasicStyle::ShouldPerformCollisionCheck (  unsigned int  frameA,
unsigned int  frameB
)  const [virtual]
 

Implements CD_InterfaceToCollisionQueries.

Definition at line 163 of file CD_BasicStyle.cpp.

Referenced by CD_Simple::IsInterfering().

Member Data Documentation

std::map< PairInt, bool > CD_BasicStyle::collisionMatrix [protected]
 

Definition at line 94 of file CD_BasicStyle.h.

Referenced by DeactivateFrames().

std::vector<Entity*> CD_BasicStyle::entities [protected]
 

Definition at line 96 of file CD_BasicStyle.h.

Referenced by CD_BasicStyle(), CD_Solid::CD_Solid(), CD_Swiftpp::CD_Swiftpp(), CD_Vcollide::CD_Vcollide(), GetAllElements(), GetRobot(), CD_Simple::IsInterfering(), and ~CD_BasicStyle().

std::vector<LinkBase*> CD_BasicStyle::links [protected]
 

Definition at line 97 of file CD_BasicStyle.h.

Referenced by DOF(), GetAllLinks(), JointFrameNum(), JointMax(), JointMin(), JointType(), JointWraps(), SetConfiguration(), and CD_Vcollide::UpdateMovedLink().

std::map< PairInt, bool > CD_BasicStyle::permCollisionMatrix [protected]
 

Definition at line 95 of file CD_BasicStyle.h.

Referenced by FramePairPermEnabled(), PermActivateFrames(), and PermDeactivateFrames().

FrameManager CD_BasicStyle::theFrameManager [protected]
 

Definition at line 98 of file CD_BasicStyle.h.

Referenced by CD_BasicStyle(), CD_Solid::CD_Solid(), CD_Swiftpp::CD_Swiftpp(), CD_Vcollide::CD_Vcollide(), and GetFrameManager().

The documentation for this class was generated from the following files:
Generated on Sat Apr 1 21:44:33 2006 for Motion Planning Kernel by  doxygen 1.4.6-NO