Enum ObstacleType

• Defined in File pf_obstacle.hpp

Enum Documentation

enum class pfield::ObstacleType

Enumeration of different obstacle types.

Each value corresponds to a concrete ObstacleGeometry subclass.

Values:

enumerator SPHERE

Sphere — defined by radius.

enumerator BOX

Box (axis-aligned or OBB) — defined by length, width, height.

enumerator CYLINDER

Cylinder — defined by radius and height.

enumerator MESH

Triangle mesh — geometry defined by an external mesh resource.

enumerator ELLIPSOID

Ellipsoid — defined by three semi-axes; smooth analytic SDF, used for robot link approximation.

enumerator CAPSULE

Capsule — cylindrical shaft (height) with hemispherical endcaps (radius); total length = height + 2*radius.