class mpkConfigChecker |
mpkConfigChecker (const vector<mpkCollPair>* test_pairs, mpkRobotCollection* robots) | |
bool | collision (const mpkConfig* q, mpk_idx model_id=0) tells if the configuration q is colliding |
double | clearance (const mpkConfig* q, mpk_idx model_id=0, bool store_dist=true) returns lower bound on clearance (0 if colliding or separation < delta for some pair) |
mpk_idx | collpair_idx () the index (in test_pairs) of the colliding (or too close) pair (undef if no collision). |
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