Public Member Functions
	ManipulationDynamic (p3d_rob *robot)
int	checkCollisionOnTraj ()
	Check if the current path is in collision or not. Start from the begining of the trajectory.
int	checkCollisionOnTraj (int currentLpId)
	Check if the current path is in collision or not. Start from the given local path id.
MANIPULATION_TASK_MESSAGE	replanCollidingTraj (int currentLpId, std::vector< p3d_traj * > &trajs)
MANIPULATION_TASK_MESSAGE	replanCollidingTraj (int currentLpId, std::vector< MANPIPULATION_TRAJECTORY_CONF_STR > &confs, std::vector< SM_TRAJ > &smTrajs)

Member Function Documentation

int ManipulationDynamic::checkCollisionOnTraj ( )

Check if the current path is in collision or not. Start from the begining of the trajectory.

Check if the current path is in collision or not.

int ManipulationDynamic::checkCollisionOnTraj ( int currentLpId )

Check if the current path is in collision or not. Start from the given local path id.

Check if the current path is in collision or not.

MANIPULATION_TASK_MESSAGE ManipulationDynamic::replanCollidingTraj	(	int	currentLpId,
		std::vector< p3d_traj * > &	trajs
	)

Plans a path to go from the currently defined ROBOT_POS config to the currently defined ROBOT_GOTO config for the arm only.

MANIPULATION_TASK_MESSAGE ManipulationDynamic::replanCollidingTraj	(	int	currentLpId,
		std::vector< MANPIPULATION_TRAJECTORY_CONF_STR > &	confs,
		std::vector< SM_TRAJ > &	smTrajs
	)

Plans a path to go from the currently defined ROBOT_POS config to the currently defined ROBOT_GOTO config for the arm only.

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

/home/slemaign/softs-local/BioMove3D-git/lightPlanner/proto/ManipulationDynamic.hpp
/home/slemaign/softs-local/BioMove3D-git/lightPlanner/ManipulationDynamic.cpp

Public Member Functions