MinimumClearanceCalculator Class Reference

Implements a MinimumClearanceCalculator. More...

#include <MinimumClearanceCalculator.hpp>

Inherits ClearanceCalculator.

Public Types
typedef rw::core::Ptr< MinimumClearanceCalculator >	Ptr
	A pointer to a MinimumClearanceCalculator.
typedef rw::core::Ptr< const MinimumClearanceCalculator >	CPtr
	A pointer to a const MinimumClearanceCalculator.
Public Types inherited from ClearanceCalculator
typedef rw::core::Ptr< ClearanceCalculator >	Ptr
	A pointer to a ClearanceCalculator.
typedef rw::core::Ptr< const ClearanceCalculator >	CPtr
	A pointer to a const ClearanceCalculator.

Public Member Functions
	MinimumClearanceCalculator (const rw::core::Ptr< const rw::proximity::DistanceCalculator > &distancecalculator)
	Constructs a MinimumClearanceCalculator using the DistanceCalculator provided. More...
	MinimumClearanceCalculator (const rw::core::Ptr< rw::models::WorkCell > &workcell, const rw::kinematics::State &state)
	Constructs a MinimumClearanceCalculator for a workcell. More...
virtual	~MinimumClearanceCalculator ()
	Destructor.
double	clearance (const rw::kinematics::State &state) const
	Calculates Clearance for the state. More...
Public Member Functions inherited from ClearanceCalculator
virtual	~ClearanceCalculator ()
	Destructor.

Detailed Description

Implements a MinimumClearanceCalculator.

The minimum clearance is defined as the minimal distance between any two geometries, which are not excluded by the collision setup.

Constructor & Destructor Documentation

MinimumClearanceCalculator() [1/2]

MinimumClearanceCalculator

(

const rw::core::Ptr< const rw::proximity::DistanceCalculator > &

distancecalculator

)

Constructs a MinimumClearanceCalculator using the DistanceCalculator provided.

Use this constructor to use an already existing DistanceCalculator

Parameters

distancecalculator

[in] The distance calculator to use

MinimumClearanceCalculator() [2/2]

MinimumClearanceCalculator	(	const rw::core::Ptr< rw::models::WorkCell > &	workcell,
		const rw::kinematics::State &	state
	)

Constructs a MinimumClearanceCalculator for a workcell.

Parameters

workcell	[in] WorkCell for which to calculate the minimum clearance
state	[in] State of the workcell

Member Function Documentation

clearance()

double clearance ( const rw::kinematics::State &  state ) const

virtual

Calculates Clearance for the state.

Parameters

state

[in] State for which to calculate the clearance

Returns

The clearance.

Implements ClearanceCalculator.

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

• MinimumClearanceCalculator.hpp