VclipLinkPair.h
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00001 #include <hrpModel/Link.h>
00002 #include "vclip_1.0/include/vclip.h"
00003 
00004 class VclipLinkPair  : public hrp::Referenced {
00005 public:
00006     VclipLinkPair(hrp::Link* link0, Vclip::Polyhedron* pqp_model0, hrp::Link* link1, Vclip::Polyhedron* pqp_model1, double tolerance=0);
00007     ~VclipLinkPair();
00008     bool checkCollision();
00009     double computeDistance(double *q1, double *q2);
00010     hrp::Link* link(int index) { return links_[index]; }
00011     double getTolerance() { return tolerance_; }
00012     void setTolerance(double t) { tolerance_ = t; }
00013 
00014 private:
00015     hrp::Link *links_[2];
00016     Vclip::Polyhedron *Vclip_Model1, *Vclip_Model2;
00017     Vclip::FeaturePair Feature_Pair;
00018     double tolerance_;
00019 };
00020 
00021 typedef boost::intrusive_ptr<VclipLinkPair> VclipLinkPairPtr;
00022 


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:56