SetupCollisionPair.cpp File Reference

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#include <iomanip>
#include <hrpModel/Link.h>
#include <hrpModel/ModelLoaderUtil.h>
#include <hrpModel/JointPath.h>
#include <hrpUtil/Eigen3d.h>
#include <hrpUtil/Eigen4d.h>
#include <hrpCollision/ColdetModel.h>
#include "CollisionDetector.h"
#include <qhull/qhull_a.h>

Include dependency graph for SetupCollisionPair.cpp:

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Macros
#define	deg2rad(x)   ((x)*M_PI/180)
#define	rad2deg(x)   ((x)*180/M_PI)

Functions
bool	checkBlackListJoint (hrp::Link *l)
bool	checkBlackListJointPair (hrp::Link *l1, hrp::Link *l2)
bool	checkCollisionForAllJointRange (int i, hrp::JointPathPtr jointPath, std::vector< hrp::ColdetLinkPairPtr > &collisionPairs)
bool	compare_joint_path_length (const hrp::ColdetLinkPairPtr &p1, const hrp::ColdetLinkPairPtr &p2)
int	main (int argc, char **argv)
void	setupCollisionLinkPair ()
RTC::ReturnCode_t	setupCollisionModel (hrp::BodyPtr m_robot, const char *url, OpenHRP::BodyInfo_var binfo)

Variables
std::vector< std::string >	blacklist
std::vector< hrp::ColdetLinkPairPtr >	m_pair
hrp::BodyPtr	m_robot

Detailed Description

Standalone component.

Date

$Date$

$Id$

Definition in file SetupCollisionPair.cpp.

Macro Definition Documentation

#define deg2rad

(

x

)

((x)*M_PI/180)

Definition at line 26 of file SetupCollisionPair.cpp.

#define rad2deg

(

x

)

((x)*180/M_PI)

Definition at line 27 of file SetupCollisionPair.cpp.

Function Documentation

bool checkBlackListJoint

(

hrp::Link *

l

)

Definition at line 172 of file SetupCollisionPair.cpp.

bool checkBlackListJointPair	(	hrp::Link *	l1,
		hrp::Link *	l2
	)

Definition at line 179 of file SetupCollisionPair.cpp.

bool checkCollisionForAllJointRange	(	int	i,
		hrp::JointPathPtr	jointPath,
		std::vector< hrp::ColdetLinkPairPtr > &	collisionPairs
	)

Definition at line 139 of file SetupCollisionPair.cpp.

bool compare_joint_path_length	(	const hrp::ColdetLinkPairPtr &	p1,
		const hrp::ColdetLinkPairPtr &	p2
	)

Definition at line 187 of file SetupCollisionPair.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 352 of file SetupCollisionPair.cpp.

void setupCollisionLinkPair

(

)

Definition at line 191 of file SetupCollisionPair.cpp.

RTC::ReturnCode_t setupCollisionModel	(	hrp::BodyPtr	m_robot,
		const char *	url,
		OpenHRP::BodyInfo_var	binfo
	)

Definition at line 33 of file SetupCollisionPair.cpp.

Variable Documentation

std::vector<std::string> blacklist

Definition at line 30 of file SetupCollisionPair.cpp.

std::vector<hrp::ColdetLinkPairPtr> m_pair

Definition at line 29 of file SetupCollisionPair.cpp.

hrp::BodyPtr m_robot

Definition at line 31 of file SetupCollisionPair.cpp.