BoB robotics
The Brains on Board robotics library
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BoBRobotics::Robots::CollisionDetector Class Reference

Public Member Functions

template<class RobotVertices , class ObjectVertices >
 CollisionDetector (const RobotVertices &robotDimensions, const std::vector< ObjectVertices > &objects, meter_t bufferSize=30_cm, meter_t gridSize=1_cm)
 
template<class PoseType >
void setRobotPose (const PoseType &pose)
 
template<class PoseType >
bool wouldCollide (const PoseType &pose)
 
const EigenSTDVector< Eigen::MatrixX2d > & getResizedObjects () const
 
const Eigen::MatrixX2d & getRobotVertices () const
 
size_t getCollidedObjectId () const
 
bool collisionOccurred ()
 
bool collisionOccurred (Vector2< meter_t > &firstCollisionPosition)
 
The documentation for this class was generated from the following files: