CGeometry Class Reference

Geometry model. More...

#include <robot.h>

List of all members.

Public Member Functions
	CGeometry ()
void	init (CRobot *robot, char *filename)
	Initializes the geometry model.
void	cleanUp ()
CBox	getBox (int id)
void	setBox (int id, CBox &box)
CBox	getBoxRobotSpace (int id)
	Returns a representation of the box in robot space.
int	checkCollisions (int &first, int &second)
	Tests if two or more cubic base elements overlap.
bool	xmlToCollision (TiXmlElement *boxNode, CRobot *robot)
	Parses the <COLLISION>s (xml objects).
Public Attributes
CBox	geometry [GEOMETRY_BOXCOUNT]
	Set of cubic base elements making up the geometry model.
int	length
	Number of elements in geometry.
bool	check [GEOMETRY_BOXCOUNT][GEOMETRY_BOXCOUNT]
	Signals for every pair of cubic base elements if a collision check should be performed.
Private Member Functions
bool	getCollision (CBox &obj1, CBox &obj2)
	Checks if the two boxes overlap.
bool	checkOverlapping (const CVec &axis, const CBox &first, const CBox &second)
	Checks if the projections of the first and second box on the axis intersect.
void	projection (const CBox &box, const CVec &axis, float &startpoint, float &endpoint)
	Calculates the start- and endpoint of the projection of the box on the axis.

---

Detailed Description

Geometry model.

The robot is modelled as a set of cubic base elements (CBox), which are stored in the geometry array. The position and orientation of every box is determined by the frames associated with each box. The frames might be attached to a certain link of the robot and therefore will be moved if the robot is moved.
Provides functions to:

• load the geometry model from a xml-file on disk
• do a (fast) collision check

---

Constructor & Destructor Documentation

CGeometry::CGeometry

(

)

---

Member Function Documentation

bool CGeometry::getCollision	(	CBox &	obj1,
		CBox &	obj2
	)			[private]

Checks if the two boxes overlap.

bool CGeometry::checkOverlapping	(	const CVec &	axis,
		const CBox &	first,
		const CBox &	second
	)			[private]

Checks if the projections of the first and second box on the axis intersect.

void CGeometry::projection	(	const CBox &	box,
		const CVec &	axis,
		float &	startpoint,
		float &	endpoint
	)			[private]

Calculates the start- and endpoint of the projection of the box on the axis.

void CGeometry::init	(	CRobot *	robot,
		char *	filename
	)

Initializes the geometry model.

Parameters:

	robot	Robot structure, needed to initialize the local frame
	filename	XML-file to load the model from

void CGeometry::cleanUp

(

)

CBox CGeometry::getBox

(

int

id

)

void CGeometry::setBox	(	int	id,
		CBox &	box
	)

CBox CGeometry::getBoxRobotSpace

(

int

id

)

Returns a representation of the box in robot space.

int CGeometry::checkCollisions	(	int &	first,
		int &	second
	)

Tests if two or more cubic base elements overlap.

Parameters:

	first	Index of first overlapping box
	second	Index of second overlapping box

Returns:

True if a collision occurred, False otherwise

bool CGeometry::xmlToCollision	(	TiXmlElement *	boxNode,
		CRobot *	robot
	)

Parses the <COLLISION>s (xml objects).

The <COLLISION> objects hold information about which box should be tested against which box in the collision check.

---

Member Data Documentation

CBox CGeometry::geometry[GEOMETRY_BOXCOUNT]

Set of cubic base elements making up the geometry model.

int CGeometry::length

Number of elements in geometry.

bool CGeometry::check[GEOMETRY_BOXCOUNT][GEOMETRY_BOXCOUNT]

Signals for every pair of cubic base elements if a collision check should be performed.

---

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

• include/robot.h
• src/robot.cpp

---