Public Member Functions
Construction
	CDInfo (const bool _retAllInfo=false)

void	ResetVars (const bool _retAllInfo=false)

Ordering
bool	operator< (const CDInfo &_cdInfo) const noexcept

Public Attributes
Internal State
bool	m_retAllInfo
	Consider all collisions or only the first?

int	m_collidingObstIndex
	Index for first discovered obstacle collision.

int	m_nearestObstIndex
	Index for closest obstacle.

double	m_minDist
	Distance between Robot and closest obstacle.

mathtool::Vector3d	m_robotPoint
	Closest point on Robot to closest obstacle.

mathtool::Vector3d	m_objectPoint
	Closest point on closest obstacle to Robot.

std::vector< CollisionPair >	m_trianglePairs
	All colliding triangle pairs.

CDClearanceMap	m_clearanceMap
	Map of detected clearances.

Detailed Description

Information returned by validity checkers, e.g., distance from obstacles.

Todo:: Generalize this object to store collisions with obstacles, boundaries, and other robots in a uniform way. It should contain a vector of 'Collision' structures which describe the object type, indexes, and distance for each detected collision.

Member Typedef Documentation

typedef std::pair<int, int> CDInfo::CollisionPair

A pair of triangle indexes on the robot (first) and obstacle (second) in a discovered collision.

CDInfo::CDInfo ( const bool _retAllInfo = false )

Parameters

_retAllInfo Compute distance information if possible

void CDInfo::ResetVars ( const bool _retAllInfo = false )

Reset object to default state.

Parameters

_retAllInfo Compute distance information if possible

bool CDInfo::operator< ( const CDInfo & _cdInfo ) const

noexcept

Order these objects according to the minimum distance from closest colliding obstacle.

Parameters

_cdInfo Other CDInfo

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