isCollisionFree_mex.cpp File Reference

#include <mex.h>
#include <matrix.h>
#include <math.h>
#include "drake/util/drakeMexUtil.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "LinearMath/btTransformUtil.h"

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Functions
double	ptToPolyBullet (double *vertsPr, size_t nRows, size_t nCols)
double *	shiftAndTransform (double *verts, double *vertsT, const mxArray *x, mxArray *x0, int k, mxArray *cSk, size_t nRows, size_t nCols)
bool	isCollisionFree (int funnelIdx, const mxArray *x, const mxArray *funnelLibrary, const mxArray *obstacles, mwSize numObs, double *min_dist)
void	mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])

Variables
static btVoronoiSimplexSolver	sGjkSimplexSolver
static btGjkEpaPenetrationDepthSolver	epaSolver
static const double	g_radius = 1.0
static btSphereShape *	g_point = new btSphereShape(g_radius)

Function Documentation

bool isCollisionFree	(	int	funnelIdx,
		const mxArray *	x,
		const mxArray *	funnelLibrary,
		const mxArray *	obstacles,
		mwSize	numObs,
		double *	min_dist
	)

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void mexFunction	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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double ptToPolyBullet	(	double *	vertsPr,
		size_t	nRows,
		size_t	nCols
	)

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double* shiftAndTransform	(	double *	verts,
		double *	vertsT,
		const mxArray *	x,
		mxArray *	x0,
		int	k,
		mxArray *	cSk,
		size_t	nRows,
		size_t	nCols
	)

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Variable Documentation

btGjkEpaPenetrationDepthSolver epaSolver

static

btSphereShape* g_point = new btSphereShape(g_radius)

static

const double g_radius = 1.0

static

btVoronoiSimplexSolver sGjkSimplexSolver

static