Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionPoint (const std::vector< int > &parent_joints, double radius, double clearance, int segment_number, const Eigen::Vector3d &position)

	CollisionPoint (const CollisionPoint &point, const std::vector< int > &parent_joints)

bool	isParentJoint (int joint) const

double	getRadius () const

double	getVolume () const

double	getClearance () const

double	getInvClearance () const

int	getSegmentNumber () const

const Eigen::Vector3d &	getPosition () const

const std::vector< int > &	getParentJoints () const

void	getTransformedPosition (std::vector< Eigen::Affine3d > &segment_frames, Eigen::Vector3d &position) const

void	getTransformedPosition (std::vector< std::vector< double > > &segment_frames, Eigen::Vector3d &position) const

void	getJacobian (std::vector< Eigen::Vector3d > &joint_pos, std::vector< Eigen::Vector3d > &joint_axis, Eigen::Vector3d &collision_point_pos, Eigen::MatrixXd &jacobian, const std::vector< int > &group_joint_to_move3d_joint_index) const

void	draw (const Eigen::Affine3d &T, bool yellow=true) const

Public Attributes
bool	m_is_colliding
	Collision point in collision.

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

Public Member Functions

Public Attributes