amino.collision.SceneCollision Class Reference

Public Member Functions
def	__init__ (self, scenegraph)
def	__del__ (self)
def	allow (self, i, j)
	Allows collisions between frames i and j.
def	allow_set (self, collision_set)
	Allows collisions between all frames in the collision set.
def	allow_config (self, config)
	Allows collisions between all frames coliding at config.
def	check (self, scene_fk, collision_set=None)
	Checks for collisions and optionally outputs colliding frames. More...
def	collision_set (self)
	Creates a SceneCollisionSet.
def	collision_dist (self)
	Creates a SceneCollisionDist.

Public Attributes
	scenegraph

Static Public Attributes
	argtypes
	restypes

Detailed Description

Definition at line 126 of file collision.py.

Member Function Documentation

check()

def amino.collision.SceneCollision.check	(		self,
			scene_fk,
			collision_set = None
	)

Checks for collisions and optionally outputs colliding frames.

Parameters

fk	A SceneFK updated with the configuration to check.
collision_set	If not None, a SceneCollisionSet that will be filled with all detected, non-allowed collisions.

Returns

True if collisions are detected and False otherwise.

Definition at line 167 of file collision.py.

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

• /home/ntd/git/amino/python/amino/collision.py