Validity Checkers (VC) determine if a configuration is in $\mathcal{C}_{free}$ or $\mathcal{C}_{obst}$ . More...

Collaboration diagram for Validity Checkers:

Classes
class	AlwaysTrueValidity< MPTraits >

struct	CDInfo

class	CollisionDetectionValidity< MPTraits >

class	CollisionDetectionValidityMethod< MPTraits >

class	ComposeCollision< MPTraits >

class	ComposeValidity< MPTraits >

class	ValidityCheckerMethod< MPTraits >

Modules
	Collision Detection
	Collision Detection (CD) determines if a robot placed at a certain configuration is in collision with workspace obstacles.

Detailed Description

Validity Checkers (VC) determine if a configuration is in $\mathcal{C}_{free}$ or $\mathcal{C}_{obst}$ .

A Validity Checker (VC) is defined as a black box unit which returns whether or not a configuration is within $\mathcal{C}_{free}$ or $\mathcal{C}_{obst}$ . This is most commonly defined as collision detection, but could be more widely seen as anything which defines $\mathcal{C}_{obst}$ , e.g., energy-feasible. The base method can be found in ValidityCheckerMethod.h.

Classes

Modules

Detailed Description