collision_check.cpp
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29 
31 
33 
34 namespace exotica
35 {
37 {
38  if (phi.rows() != 1) ThrowNamed("Wrong size of phi!");
39  if (!scene_->AlwaysUpdatesCollisionScene()) cscene_->UpdateCollisionObjectTransforms();
40  phi(0) = cscene_->IsStateValid(parameters_.SelfCollision, parameters_.SafeDistance) ? 0.0 : 1.0;
41 }
42 
44 {
45  scene_ = scene;
46  Initialize();
47 }
48 
50 {
51  cscene_ = scene_->GetCollisionScene();
52 }
53 
55 {
56  return 1;
57 }
58 } // namespace exotica
void AssignScene(ScenePtr scene) override
REGISTER_TASKMAP_TYPE("CollisionCheck", exotica::CollisionCheck)
Eigen::Ref< Eigen::VectorXd > VectorXdRef
std::shared_ptr< Scene > ScenePtr
void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
#define ThrowNamed(m)
const Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
CollisionScenePtr cscene_


exotica_core_task_maps
Author(s): Yiming Yang, Michael Camilleri
autogenerated on Sat Apr 10 2021 02:36:09