se2ez::ACM Class Reference

An allowed collision map / matrix for the robot. Stores what frames are allowed to collide with each other. More...

#include <collision.h>

Public Member Functions
void	disable (const std::string &a, const std::string &b)
	Disable collision checking between frame a and b. More...
void	enable (const std::string &a, const std::string &b)
	Enable collision checking between frame a and b. More...
bool	collide (const std::string &a, const std::string &b) const
	Returns true if frame a and frame b can collide. More...
void	clear ()
	Clears all entries within the ACM. More...

Private Attributes
std::set< std::pair< std::string, std::string > >	disabled_
	Set of all disabled frame pairs. More...

Detailed Description

An allowed collision map / matrix for the robot. Stores what frames are allowed to collide with each other.

Definition at line 38 of file collision.h.

Member Function Documentation

clear()

void ACM::clear

(

)

Clears all entries within the ACM.

Definition at line 36 of file collision.cpp.

collide()

bool ACM::collide	(	const std::string &	a,
		const std::string &	b
	)		const

Returns true if frame a and frame b can collide.

Parameters

[in]	a	One frame.
[in]	b	Other frame.

Returns

True if a and b can collide, false if they do not.

Definition at line 24 of file collision.cpp.

disable()

void ACM::disable	(	const std::string &	a,
		const std::string &	b
	)

Disable collision checking between frame a and b.

Parameters

[in]	a	One frame.
[in]	b	Other frame.

ACM

Definition at line 9 of file collision.cpp.

enable()

void ACM::enable	(	const std::string &	a,
		const std::string &	b
	)

Enable collision checking between frame a and b.

Parameters

[in]	a	One frame.
[in]	b	Other frame.

Definition at line 15 of file collision.cpp.

Member Data Documentation

disabled_

std::set<std::pair<std::string, std::string> > se2ez::ACM::disabled_

private

Set of all disabled frame pairs.

Definition at line 65 of file collision.h.

---

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

• /home/zak/code/se2ez_work/include/se2ez/core/collision.h
• /home/zak/code/se2ez_work/src/core/collision.cpp