Public Member Functions
	Visibility (Robot *R)
	Sets the Pointer to Human. More...

double	getWorkspaceCost (const Eigen::Vector3d &WSPoint)
	Gets the Visibiliy cost (distance to gaze direction) of a Workspace point. More...

double	getOldWorkspaceCost (const Eigen::Vector3d &WSPoint)
	Gets the Visibiliy cost (distance to gaze direction) of a Workspace point.

double	akinVisibilityCost (const Eigen::Vector3d &WSPoint)
	Copy paste from Akins. More...

std::vector< double >	getGaze ()
	Returns the gaze associated to the visibility cost. More...

Eigen::Vector2d	get2dPointAlongGaze (double dist)
	Distance on gaze.

Constructor & Destructor Documentation

Visibility::Visibility ( Robot * R )

Sets the Pointer to Human.

Constructor Sets the Human structure.

Member Function Documentation

double Visibility::akinVisibilityCost ( const Eigen::Vector3d & WSPoint )

Copy paste from Akins.

Get the visibility Cost Old Akin function.

std::vector< double > Visibility::getGaze ( )

Returns the gaze associated to the visibility cost.

Get the Gaze direction to show in the OpenGl viewer.

double Visibility::getWorkspaceCost ( const Eigen::Vector3d & WSPoint )

Gets the Visibiliy cost (distance to gaze direction) of a Workspace point.

Get the visibility Cost This function computes an angle beetween a WSPoint and the Human gaze direction.

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