Interface for the checking for collisions for work cell states. More...

#include <StateConstraint.hpp>

Public Types
typedef rw::core::Ptr< StateConstraint >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const StateConstraint >	CPtr
	smart pointer type to this class

Public Member Functions
virtual void	setLog (rw::core::Ptr< rw::core::Log > log)
	Set the log to be used for writing debug info. More...

bool	inCollision (const rw::kinematics::State &state) const
	True if the work cell is considered to be in collision for the work cell state state.

virtual	~StateConstraint ()

Static Public Member Functions
static StateConstraint::Ptr	make (rw::core::Ptr< rw::proximity::CollisionDetector > detector)
	Map a collision detector to a state constraint.

static StateConstraint::Ptr	make (const std::vector< StateConstraint::Ptr > &constraints)
	Combine a set of state constraints into a single state constraint.

Protected Member Functions
virtual bool	doInCollision (const rw::kinematics::State &state) const =0
	Subclass implementation of the inCollision() method.

virtual void	doSetLog (rw::core::Ptr< rw::core::Log > log)=0
	Set a log. More...

	StateConstraint ()
	Constructor.

Detailed Description

Interface for the checking for collisions for work cell states.

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

Public Types