Public Member Functions
	Distance ()
	Constructor that sets the Human and Robot structures.

	Distance (Robot rob, std::vector< Robot > humans)

	~Distance ()
	Destructor sets back the safety radius.

void	drawZones ()

void	parseHumans ()
	Goes through the Human (p3d_rob) structure to find the safety zones.

double	getDistance ()

void	offSetPrim (p3d_poly *poly, double offset)
	Changes dynamically the size of the zone shown in the OpenGl display.

void	activateSafetyZonesMode ()
	Changes the collision context to compute distance only to the pritimives that represent the human.

void	activateNormalMode ()
	Changes the collision context to compute the CD with the finer representation of the Human.

double	computeCost (double distance)

double	getWorkspaceCost (const Eigen::Vector3d &WSPoint)
	Get Workspace Cost.

std::vector< double >	getDistToZones ()
	Main function computing the distance between the Human and the Robot.

std::vector< double >	getVectorJim ()

void	setVector (std::vector< double > toDrawVector)

double	computeBBDist (p3d_vector3 robot, p3d_vector3 human)
	Bounding Box Distance.

bool	computeCylinderZone (Eigen::Vector3d &p1, Eigen::Vector3d &p2)
	Computes the cylinder associated with the human (body)

double	pointToLineSegmentDistance (const Eigen::Vector3d &p, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2, Eigen::Vector3d &closestPoint)
	Computes the closest point of a point to a segment line. More...

double	computeBoundingBalls (const Eigen::Vector3d &WSPoint, p3d_vector3 robot, p3d_vector3 human)
	Bounding Balls Distance computes the distance to a line and a sphere The Line is the body and the sphere is the head.

Eigen::Vector3d	getColsestPointToHuman ()

void	setSafeRadius (double radius)

void	drawInteractionZone ()

int	isPointInInteractionZone (const Eigen::Vector3d &WSPoint)

Member Function Documentation

double Distance::pointToLineSegmentDistance	(	const Eigen::Vector3d &	p,
		const Eigen::Vector3d &	p1,
		const Eigen::Vector3d &	p2,
		Eigen::Vector3d &	closestPoint
	)

Computes the closest point of a point to a segment line.

Parameters

p	the point
p1	the first point of the segment line
p2	the second point of the segment line
closestPoint	the point on the segment that is the closest to p

Returns: the minimimal distance between the segment and the point

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

src/HRI_costspace/HRICS_Distance.hpp
src/HRI_costspace/HRICS_Distance.cpp

Public Member Functions

Member Function Documentation