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CollisionSetup Class Reference

Setup for the collision checker. More...

#include <CollisionSetup.hpp>

Public Member Functions

 CollisionSetup ()
 Default constructor for when no excludes are described.
 
 CollisionSetup (const std::vector< std::pair< std::string, std::string > > &exclude)
 Constructs CollisionSetup with list of exclusions. More...
 
 CollisionSetup (const rw::common::StringPairList &exclude, const std::set< std::string > &volatileFrames, bool excludeStaticPairs)
 CollisionSetup for a list of pairs to exclude and a sequence of volatile frames. More...
 
void addExcludePair (rw::common::StringPair &pair)
 
void removeExcludePair (rw::common::StringPair &pair)
 
const rw::common::StringPairList & getExcludeList () const
 Returns the exclude list. More...
 
bool isVolatile (const rw::kinematics::Frame &frame) const
 True iff the collision setup for the frame can change over time.
 
bool excludeStaticPairs () const
 True iff all statically related pairs of frames should be excluded. More...
 
void merge (const CollisionSetup &b)
 Combine setup of this and setup of b into this collision setup.
 

Static Public Member Functions

static CollisionSetup merge (const CollisionSetup &a, const CollisionSetup &b)
 Combine setup a and setup b into a single collision setup.
 
static CollisionSetup get (const rw::models::WorkCell &wc)
 
static CollisionSetup get (rw::common::Ptr< rw::models::WorkCell > wc)
 
static CollisionSetup get (const rw::common::PropertyMap &map)
 
static void set (const CollisionSetup &setup, rw::common::Ptr< rw::models::WorkCell > wc)
 
static void set (const CollisionSetup &setup, rw::common::PropertyMap &map)
 

Detailed Description

Setup for the collision checker.

The CollisionSetup contains information about which frames, not be checked against each other

Constructor & Destructor Documentation

◆ CollisionSetup() [1/2]

CollisionSetup ( const std::vector< std::pair< std::string, std::string > > &  exclude)
explicit

Constructs CollisionSetup with list of exclusions.

Parameters
exclude[in] pairs to be excluded

◆ CollisionSetup() [2/2]

CollisionSetup ( const rw::common::StringPairList &  exclude,
const std::set< std::string > &  volatileFrames,
bool  excludeStaticPairs 
)

CollisionSetup for a list of pairs to exclude and a sequence of volatile frames.

Parameters
exclude[in] pairs to be excluded
volatileFrames[in] names of frames to treat as volatile.
excludeStaticPairs[in] if true exclude statically related pairs.

Member Function Documentation

◆ excludeStaticPairs()

bool excludeStaticPairs ( ) const
inline

True iff all statically related pairs of frames should be excluded.

Note that this will exclude also statically related pairs of frames for which one or both of the pairs are volatile.

◆ getExcludeList()

const rw::common::StringPairList& getExcludeList ( ) const
inline

Returns the exclude list.

Returns
the exclude list

The documentation for this class was generated from the following file: