collision_checker_params.h File Reference

#include <functional>
#include <memory>
#include <vector>
#include <Eigen/Core>
#include "drake/common/parallelism.h"
#include "drake/multibody/tree/multibody_tree_indexes.h"
#include "drake/planning/distance_and_interpolation_provider.h"
#include "drake/planning/robot_diagram.h"

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Classes
struct	CollisionCheckerParams
	A set of common constructor parameters for a CollisionChecker. More...

Namespaces
	drake
	drake::planning

Typedefs
using	ConfigurationDistanceFunction = std::function< double(const Eigen::VectorXd &, const Eigen::VectorXd &)>
	Configuration distance takes two configurations of the robot, q1 and q2, both as Eigen::VectorXd, and returns (potentially weighted) C-space distance as a double. More...
using	ConfigurationInterpolationFunction = std::function< Eigen::VectorXd(const Eigen::VectorXd &, const Eigen::VectorXd &, double)>
	Configuration interpolation function takes two configurations of the robot, q1, and q2, both as Eigen::VectorXd, plus a ratio, r, in [0, 1] and returns the interpolated configuration. More...