CD_JointLimits Class Reference

#include <collisiondetectors/CD_JointLimits.h>

Inherits CollisionDetectorBase.

Inherited by CD_BasicStyle [virtual], CD_LinearContinuous [virtual], CD_LinearDiscrete [virtual], CD_MoreComplex, and Universe.

Inheritance diagram for CD_JointLimits:

[legend]Collaboration diagram for CD_JointLimits:

[legend]List of all members.

Public Member Functions
virtual	~CD_JointLimits ()
virtual double	JointMax (const unsigned int jointNum) const =0
virtual double	JointMin (const unsigned int jointNum) const =0
virtual unsigned int	DOF () const =0
virtual bool	JointWraps (const unsigned int jointNum) const =0
double	DistanceBetween (const Configuration &c1, const Configuration &c2) const
VectorN	JointDisplacement (const Configuration &c1, const Configuration &c2) const

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Detailed Description

Definition at line 40 of file CD_JointLimits.h.

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Constructor & Destructor Documentation

CD_JointLimits::~CD_JointLimits (   )  [virtual]

Definition at line 29 of file CD_JointLimits.cpp.

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Member Function Documentation

double CD_JointLimits::DistanceBetween (  const Configuration &  c1, const Configuration &  c2 )  const

Definition at line 38 of file CD_JointLimits.cpp. References Configuration::DOF(), JointMax(), JointMin(), JointWraps(), and Min(). Referenced by SM_PathSmoothingRandomNodePair::Distance(), PL_ACA_CONNECT::get_distance(), PL_RRT_CONNECT::MyDistanceFunc(), PL_RRT::MyDistanceFunc(), and PL_Juan::MyDistanceFunc(). Here is the call graph for this function:

virtual unsigned int CD_JointLimits::DOF (   )  const [pure virtual]

Implemented in Universe, and CD_BasicStyle.

VectorN CD_JointLimits::JointDisplacement (  const Configuration &  c1, const Configuration &  c2 )  const

Definition at line 64 of file CD_JointLimits.cpp. References Configuration::DOF(), JointMax(), JointMin(), JointWraps(), MinMag(), and VectorN::SetLength(). Referenced by PL_MPEP::Distance(), PL_RRT_ClosedChain::Distance(), PL_RGD_RRT::Distance(), LocalPlannerClosed::Distance(), PL_ATACE::Distance(), PL_MPEP::DistanceInActiveJoints(), PL_GraphBase::GetMidPoint(), and CD_LinearContinuous::IsInterferingLinearWrapping(). Here is the call graph for this function:

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

Implemented in Universe, and CD_BasicStyle. Referenced by DistanceBetween(), CD_LinearContinuous::IsInterferingLinearWrapping(), and JointDisplacement().

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

Implemented in Universe, and CD_BasicStyle. Referenced by DistanceBetween(), CD_LinearContinuous::IsInterferingLinearWrapping(), and JointDisplacement().

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

Implemented in Universe, and CD_BasicStyle. Referenced by DistanceBetween(), and JointDisplacement().

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The documentation for this class was generated from the following files:

• collisiondetectors/CD_JointLimits.h
• collisiondetectors/CD_JointLimits.cpp

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