Inheritance diagram for ompl::app::RigidBodyGeometry:

[legend]

Public Member Functions
	RigidBodyGeometry (MotionModel mtype, CollisionChecker ctype)
	Constructor expects a state space that can represent a rigid body. More...

	RigidBodyGeometry (MotionModel mtype)
	Constructor expects a state space that can represent a rigid body. More...

MotionModel	getMotionModel () const

CollisionChecker	getCollisionCheckerType () const

bool	hasEnvironment () const

bool	hasRobot () const

unsigned int	getLoadedRobotCount () const

aiVector3D	getRobotCenter (unsigned int robotIndex) const
	Get the robot's center (average of all the vertices of all its parts)

virtual bool	setEnvironmentMesh (const std::string &env)
	This function specifies the name of the CAD file representing the environment (env). Returns 1 on success, 0 on failure.

virtual bool	addEnvironmentMesh (const std::string &env)
	This function specifies the name of the CAD file representing a part of the environment (env). Returns 1 on success, 0 on failure.

virtual bool	setRobotMesh (const std::string &robot)
	This function specifies the name of the CAD file representing the robot (robot). Returns 1 on success, 0 on failure.

virtual bool	addRobotMesh (const std::string &robot)
	This function specifies the name of the CAD file representing a part of the robot (robot). Returns 1 on success, 0 on failure.

virtual void	setStateValidityCheckerType (CollisionChecker ctype)
	Change the type of collision checking for the rigid body.

const base::StateValidityCheckerPtr &	allocStateValidityChecker (const base::SpaceInformationPtr &si, const GeometricStateExtractor &se, bool selfCollision)
	Allocate default state validity checker using FCL.

const GeometrySpecification &	getGeometrySpecification () const

void	setBoundsFactor (double factor)
	The bounds of the environment are inferred based on the axis-aligned bounding box for the objects in the environment. The inferred size is multiplied by factor. By default factor = 1,.

double	getBoundsFactor () const
	Get the data set by setBoundsFactor()

void	setBoundsAddition (double add)
	The bounds of the environment are inferred based on the axis-aligned bounding box for the objects in the environment. add is added to the inferred size. By default add = 0,.

double	getBoundsAddition () const
	Get the data set by setBoundsAddition()

base::RealVectorBounds	inferEnvironmentBounds () const
	Given the representation of an environment, infer its bounds. The bounds will be 2-dimensional when planning in 2D and 3-dimensional when planning in 3D.

void	setMeshPath (const std::vector< boost::filesystem::path > &path)
	set path to search for mesh files

Protected Member Functions
boost::filesystem::path	findMeshFile (const std::string &fname)
	return absolute path to mesh file if it exists and an empty path otherwise

void	computeGeometrySpecification ()

Protected Attributes
MotionModel	mtype_

double	factor_
	The factor to multiply inferred environment bounds by (default 1)

double	add_
	The value to add to inferred environment bounds (default 0)

std::vector< std::shared_ptr< Assimp::Importer > >	importerEnv_
	Instance of assimp importer used to load environment.

std::vector< std::shared_ptr< Assimp::Importer > >	importerRobot_
	Instance of assimp importer used to load robot.

GeometrySpecification	geom_
	Object containing mesh data for robot and environment.

base::StateValidityCheckerPtr	validitySvc_
	Instance of the state validity checker for collision checking.

CollisionChecker	ctype_
	Value containing the type of collision checking to use.

std::vector< boost::filesystem::path >	meshPath_ {OMPLAPP_RESOURCE_DIR}
	Paths to search for mesh files if mesh file names do not correspond to absolute paths.

Detailed Description

Definition at line 53 of file RigidBodyGeometry.h.

Constructor & Destructor Documentation

◆ RigidBodyGeometry() [1/2]

ompl::app::RigidBodyGeometry::RigidBodyGeometry	(	MotionModel	mtype,
		CollisionChecker	ctype
	)

inlineexplicit

Constructor expects a state space that can represent a rigid body.

Parameters

mtype	The motion model (2D or 3D) for the rigid body.
ctype	The type of collision checker to use for rigid body planning.

Definition at line 61 of file RigidBodyGeometry.h.

◆ RigidBodyGeometry() [2/2]

ompl::app::RigidBodyGeometry::RigidBodyGeometry ( MotionModel mtype )

inlineexplicit

Constructor expects a state space that can represent a rigid body.

Parameters

mtype The motion model (2D or 3D) for the rigid body.

Remarks: This constructor defaults to a PQP state validity checker

Definition at line 69 of file RigidBodyGeometry.h.

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

omplapp/geometry/RigidBodyGeometry.h
omplapp/geometry/RigidBodyGeometry.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RigidBodyGeometry() [1/2]

◆ RigidBodyGeometry() [2/2]