Inheritance:

Inherited from mpkBaseRobot:

Public Fields

Joint* joints

int num_joints

double* params

int num_params

param_info* param_opts

double scale_factor

vector<selfcoll_pair> selfcoll_info

SoSeparator* iv_graph

int tracepoint_joint_idx

mpkTransform base_T

SoTransform* iv_base_T

Public Methods

void compute_forward_kinematics()

void compute_forward_kinematics(int joint_idx)

void compute_forward_kinematics(int joint_idx, unsigned t, mpkTransformCache* cache)

void update_iv_transf()

bool collision(int i, int j, int model_id=0)

bool collision(int i, double R[3][3], double T[3], PQP_Model* obstacle, int model_id=0)

double distance(int i, int j, double rel_err=0, int model_id=0)

double distance(int i, double R[3][3], double T[3], PQP_Model* obstacle, double rel_err=0, int model_id=0)

bool closer_than_thres(int i, int j, double thres=0, int model_id=0)

bool closer_than_thres(int i, double R[3][3], double T[3], PQP_Model* obstacle, double thres=0, int model_id=0 )

void translate_base(double dx, double dy, double dz)

const char* get_name()

virtual double pathlen_upbound(const mpkConfig& q0, const mpkConfig& q1, int first_param_idx, int joint_idx, int root_idx=-1)

Public Members

struct JointDef

struct Joint: JointDef

struct param_info

struct selfcoll_pair

Documentation

This class has no child classes.

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