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Contents
Contents
Description of a scene
Environment, robots and obstacles
Description of an environment
Description of an obstacle
General polyhedron
Geometric primitives
Description of a robot
Trajectories
Deleting a scene
Collision detection
Initialization
Detection of a collision
Computing a distance
Getting/setting informations
Selecting the current element
Environments, polyhedrons and obstacles
Environments
Polyhedrons
Obstacles
Robots
Robot
Body
Joints
position of a robot
Changing a color
Graphs and trajectories
Steering methods
Building a local path
Validating a local path
Motion planning
Shooting a random configuration
Building a graph
Existing motion planners
Expanding a graph
Searching a graph
Optimizing a trajectory
Deleting a graph
Reading/writing an environment
Reading a description
Creating and reading a macro
Reading/writing a graph
Data structures
References
Index
About this document ...
Nicola Simeon
Fri Oct 27 09:07:38 MET DST 2000