chomp_motion_planner: chomp_collision

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00034 
00037 #include <chomp_motion_planner/chomp_collision_point.h>
00038 #include <cmath>
00039 
00040 
00041 namespace chomp
00042 {
00043 
00044 ChompCollisionPoint::ChompCollisionPoint(const std::vector<int>& parent_joints, double radius, double clearance,
00045     int segment_number, const KDL::Vector& position):
00046       parent_joints_(parent_joints),
00047       radius_(radius),
00048       volume_((4.0/3.0)*M_PI*radius_*radius_*radius_),
00049       clearance_(clearance),
00050       inv_clearance_(1.0/clearance_),
00051       segment_number_(segment_number),
00052       position_(position)
00053 {
00054 
00055 }
00056 
00057 ChompCollisionPoint::ChompCollisionPoint(const ChompCollisionPoint &point, const std::vector<int>& parent_joints):
00058   parent_joints_(parent_joints),
00059   radius_(point.radius_),
00060   volume_((4.0/3.0)*M_PI*radius_*radius_*radius_),
00061   clearance_(point.clearance_),
00062   inv_clearance_(1.0/clearance_),
00063   segment_number_(point.segment_number_),
00064   position_(point.position_)
00065 {
00066 }
00067 
00068 ChompCollisionPoint::~ChompCollisionPoint()
00069 {
00070 }
00071 
00072 }
chomp_collision_point.cpp
