Setup for the collision checker. More...

#include <CollisionSetup.hpp>

Public Member Functions
	CollisionSetup ()
	Default constructor for when no excludes are described.

	CollisionSetup (const std::vector< std::pair< std::string, std::string >> &exclude)
	Constructs CollisionSetup with list of exclusions. More...

	CollisionSetup (const rw::core::StringPairList &exclude, const std::set< std::string > &volatileFrames, bool excludeStaticPairs)
	CollisionSetup for a list of pairs to exclude and a sequence of volatile frames. More...

	CollisionSetup (const rw::core::StringPairList &exclude, const std::vector< std::string > &volatileFrames, bool excludeStaticPairs)
	CollisionSetup for a list of pairs to exclude and a sequence of volatile frames. More...

void	addExcludePair (rw::core::StringPair &pair)

void	removeExcludePair (rw::core::StringPair &pair)

const rw::core::StringPairList &	getExcludeList () const
	Returns the exclude list. More...

bool	isVolatile (const rw::kinematics::Frame &frame) const
	True iff the collision setup for the frame can change over time.

bool	excludeStaticPairs () const
	True iff all statically related pairs of frames should be excluded. More...

void	merge (const CollisionSetup &b)
	Combine setup of this and setup of b into this collision setup.

Static Public Member Functions
static CollisionSetup	merge (const CollisionSetup &a, const CollisionSetup &b)
	Combine setup a and setup b into a single collision setup.

static CollisionSetup	get (const rw::models::WorkCell &wc)

static CollisionSetup	get (rw::core::Ptr< rw::models::WorkCell > wc)

static CollisionSetup	get (const rw::core::PropertyMap &map)

static void	set (const CollisionSetup &setup, rw::core::Ptr< rw::models::WorkCell > wc)

static void	set (const CollisionSetup &setup, rw::core::PropertyMap &map)

Friends
std::ostream &	operator<< (std::ostream &s, const CollisionSetup &r)
	ostream operator formatting the setup for easy reading

Detailed Description

Setup for the collision checker.

The CollisionSetup contains information about which frames, not be checked against each other

Constructor & Destructor Documentation

CollisionSetup ( const std::vector< std::pair< std::string, std::string >> & exclude )

explicit

Constructs CollisionSetup with list of exclusions.

Parameters

exclude [in] pairs to be excluded

CollisionSetup	(	const rw::core::StringPairList &	exclude,
		const std::set< std::string > &	volatileFrames,
		bool	excludeStaticPairs
	)

CollisionSetup for a list of pairs to exclude and a sequence of volatile frames.

Parameters

exclude	[in] pairs to be excluded
volatileFrames	[in] names of frames to treat as volatile.
excludeStaticPairs	[in] if true exclude statically related pairs.

CollisionSetup	(	const rw::core::StringPairList &	exclude,
		const std::vector< std::string > &	volatileFrames,
		bool	excludeStaticPairs
	)

CollisionSetup for a list of pairs to exclude and a sequence of volatile frames.

Parameters

exclude	[in] pairs to be excluded
volatileFrames	[in] names of frames to treat as volatile.
excludeStaticPairs	[in] if true exclude statically related pairs.

bool excludeStaticPairs ( ) const

inline

True iff all statically related pairs of frames should be excluded.

Note that this will exclude also statically related pairs of frames for which one or both of the pairs are volatile.

const rw::core::StringPairList& getExcludeList ( ) const

inline

Returns the exclude list.

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