CollisionCheckUtil.h File Reference
#include <Eigen/Core>#include <ArmarXCore/core/exceptions/local/ExpressionException.h>#include <optional>
Include dependency graph for CollisionCheckUtil.h: This graph shows which files directly or indirectly include this file:Go to the source code of this file.
Namespaces | |
| armarx | |
| This file offers overloads of toIce() and fromIce() functions for STL container types. | |
Functions | |
| template<class RealType , class CollisionChecker , class ConfigType , class Distance = std::function<float(Eigen::VectorXf, Eigen::VectorXf)>, class Interpolate = std::function<Eigen::VectorXf(Eigen::VectorXf, Eigen::VectorXf, float)>> | |
| bool | dcdIsPathCollisionFree (const ConfigType &from, const ConfigType &to, RealType dcdStepSize, CollisionChecker isCollisionFree, bool toIsCollisionFree=true, const std::optional< Distance > &distanceLambda=std::optional< Distance >(), const std::optional< Interpolate > &interpolationLambda=std::optional< Interpolate >(), std::vector< ConfigType > *resultPath=NULL) |
| Returns whether the line startCfg to to is collision free. More... | |
| template<class RealType , class CollisionChecker , class ConfigType > | |
| ConfigType | dcdSteer (const ConfigType &from, const ConfigType &to, RealType dcdStepSize, CollisionChecker isCollisionFree) |
| Tries to reach to from from using the given stepsize. More... | |
