QConstraint Class Reference

Interface for the checking for collisions for work cell states. More...

#include <QConstraint.hpp>

Public Types
typedef rw::core::Ptr< QConstraint >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const QConstraint >	CPtr
	smart pointer type to this const class

Public Member Functions
virtual	~QConstraint ()
	Destructor.
virtual void	setLog (rw::core::Log::Ptr log)
	Set the log to be used for writing debug info. More...
void	update (const rw::kinematics::State &state)
	Updates the constraint with a new state. More...
bool	inCollision (const rw::math::Q &q) const
	True if the work cell is considered to be in collision for the device configuration q.

Static Public Member Functions
static QConstraint::Ptr	makeFixed (bool value)
	A fixed constraint. The fixed constraint always returns value from inCollision().
static QConstraint::Ptr	makeBounds (const rw::models::Device::QBox &bounds)
	Constraint for the bounds of the configuration space. The configuration is considered to be in collision if it is outside of the bounds given by bounds.
static QConstraint::Ptr	make (rw::core::Ptr< StateConstraint > detector, rw::models::Device::CPtr device, const rw::kinematics::State &state)
	Map a state constraint to a configuration constraint.
static QConstraint::Ptr	make (rw::core::Ptr< rw::proximity::CollisionDetector > detector, rw::models::Device::CPtr device, const rw::kinematics::State &state)
	Map a collision detector to a configuration constraint.
static QConstraint::Ptr	makeMerged (const std::vector< QConstraint::Ptr > &constraints)
	Combine a set of configuration constraints into a single configuration constraint.
static QConstraint::Ptr	makeMerged (const QConstraint::Ptr &ca, const QConstraint::Ptr &cb)
	Combine a pair of configuration constraints into a single configuration constraint.
static QConstraint::Ptr	makeNormalized (const QConstraint::Ptr &constraint, const std::pair< rw::math::Q, rw::math::Q > &bounds)
	Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations. More...
static QConstraint::Ptr	makeNormalized (const QConstraint::Ptr &constraint, const rw::models::Device &device)
	Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations. More...
static QConstraint::Ptr	makeNormalized (const QConstraint::Ptr &constraint, const QNormalizer &normalizer)
	Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations. More...

Protected Member Functions
virtual bool	doInCollision (const rw::math::Q &q) const =0
	Subclass implementation of the inCollision() method.
virtual void	doSetLog (rw::core::Log::Ptr log)=0
	Set a log. More...
virtual void	doUpdate (const rw::kinematics::State &state)
	Update constraint. More...
	QConstraint ()

Detailed Description

Interface for the checking for collisions for work cell states.

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

• QConstraint.hpp