Public Methods

	mpkConfigChecker (const vector<mpkCollPair>* test_pairs, mpkRobotCollection* robots)
bool	collision (const mpkConfig* q, mpk_idx model_id=0) tells if the configuration q is colliding
double	clearance (const mpkConfig* q, mpk_idx model_id=0, bool store_dist=true) returns lower bound on clearance (0 if colliding or separation < delta for some pair)
mpk_idx	collpair_idx () the index (in test_pairs) of the colliding (or too close) pair (undef if no collision).

Documentation

mpkConfigChecker(const vector<mpkCollPair>* test_pairs, mpkRobotCollection* robots)

bool collision(const mpkConfig* q, mpk_idx model_id=0)

tells if the configuration q is colliding

mpk_idx collpair_idx()

the index (in test_pairs) of the colliding (or too close) pair (undef if no collision).

This class has no child classes.

Friends:

class mpkSimpleSegmentChecker
class mpkDiscrSegmentChecker
class mpkAdaptSegmentChecker

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