Represents a collection of candidate rigid body pairs (robot link, obstacle) and (robot link, robot link) that can be passed to a collision checker class. In particular, the public member test_pairs can be passed to SimplePointChecker, AdaptPointChecker or SimpleSegmentChecker. mpkRobot links that do not move, because they have no parameter dependencies, are not paired with any (static) obstacles.

Public Fields

vector<mpkCollPair>

test_pairs The vector of collision candidate pairs constructed by this class.

Public Methods

	mpkCollPairSet (mpkRobotCollection* robots, mpkObstacleCollection* obstacles, double delta=0)
void	print (ostream* f=&cout)

Documentation

Represents a collection of candidate rigid body pairs (robot link, obstacle) and (robot link, robot link) that can be passed to a collision checker class. In particular, the public member test_pairs can be passed to SimplePointChecker, SimplePointChecker or SimplePointChecker. mpkRobot links that do not move, because they have no parameter dependencies, are not paired with any (static) obstacles.

mpkCollPairSet(mpkRobotCollection* robots, mpkObstacleCollection* obstacles, double delta=0)

Parameters:

1 - robots must point to a properly initialized robot collection.
2 - obstacles similar to robots.
3 - delta is the minimum workspace clearance (the same for all pairs of objects).

See Also:

mpkCollPair

void print(ostream* f=&cout)

Outputs the candidate rigid object pairs to f (cout by default).

This class has no child classes.

See Also:

SimplePointChecker
AdaptPointChecker
mpkAdaptSegmentChecker

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