Template Class Environment

• Defined in File environment.hpp

Class Documentation

template<int D, typename FT>
class Environment

Abstract environment class.

Environment is any geometric entity that is able to “intersect” with a voxel and measure distances.

Template Parameters:

• FT – Field type. Usually double.

• D – C-Space dimension.

Public Functions

virtual bool intersects(Voxel<D, FT> v) = 0

Test whether a voxel intersects with the environment.

Parameters:

v –

Returns:

True if v intersects with the environment.

virtual bool contains(Configuration<D, FT> q) = 0

Test whever a configuration is contained whithin the environment.

Parameters:

q –

Returns:

True if q is contained in the environment.

virtual FT measureDistance(Configuration<D, FT> q) = 0

Measure the distance perceived from a configuration q.

Parameters:

q –

Returns:

The measured distance.

virtual bool collisionDetection(Configuration<D, FT> q1, Configuration<D, FT> q2) = 0

Test whether the line between two configurations intersects with the environment.

Parameters:

• q1 –

• q2 –

Returns:

True if the line between q1 and q2 intersects with the environment.