Drake
Drake C++ Documentation
drake::planning Namespace Reference

Classes

class  RobotClearance
 A summary of the clearance – a collection of distance measurements – between the robot and everything in the world. More...
 
class  RobotDiagram
 Storage for a combined diagram, plant, and scene graph. More...
 
class  RobotDiagramBuilder
 Storage for a combined diagram builder, plant, and scene graph. More...
 

Enumerations

enum  RobotCollisionType : uint8_t { kNoCollision = 0x00, kEnvironmentCollision = 0x01, kSelfCollision = 0x02, kEnvironmentAndSelfCollision = kEnvironmentCollision | kSelfCollision }
 Enumerates these predicates (and their combinations): More...
 

Functions

RobotCollisionType SetInEnvironmentCollision (RobotCollisionType collision_type, bool in_environment_collision)
 
RobotCollisionType SetInSelfCollision (RobotCollisionType collision_type, bool in_self_collision)
 

Enumeration Type Documentation

◆ RobotCollisionType

enum RobotCollisionType : uint8_t
strong

Enumerates these predicates (and their combinations):

  • is the robot in collision with itself?
  • is the robot in collision with something in the environment?
Enumerator
kNoCollision 
kEnvironmentCollision 
kSelfCollision 
kEnvironmentAndSelfCollision 

Function Documentation

◆ SetInEnvironmentCollision()

RobotCollisionType drake::planning::SetInEnvironmentCollision ( RobotCollisionType  collision_type,
bool  in_environment_collision 
)
Returns
a RobotCollisionType where the environment-collision value is that asserted by in_environment_collision, and the self-collision value is that asserted by collision_type.

◆ SetInSelfCollision()

RobotCollisionType drake::planning::SetInSelfCollision ( RobotCollisionType  collision_type,
bool  in_self_collision 
)
Returns
a RobotCollisionType where the self-collision value is that asserted by in_self_collision, and the environment-collision value is that asserted by collision_type.