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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
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<title>lebai-motion-control: group</title>
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<div id="projectname">lebai-motion-control
 <span id="projectnumber">2.2.18</span>
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<div id="projectbrief">lebai motion control C interface</div>
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<div class="header">
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<a href="#nested-classes">Data Structures</a> |
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<div class="headertitle">
<div class="title">group</div> </div>
</div><!--header-->
<div class="contents">
<p>Group module.
<a href="#details">More...</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Data Structures</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structlmc__group__joint__info.html">lmc_group_joint_info</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Group joint information. <a href="structlmc__group__joint__info.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structlmc__group__link__pair.html">lmc_group_link_pair</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Link pair data. <a href="structlmc__group__link__pair.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structlmc__group__ignore__link__pairs.html">lmc_group_ignore_link_pairs</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">link collision ignore pair data. <a href="structlmc__group__ignore__link__pairs.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structlmc__group__collide__req.html">lmc_group_collide_req</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Collision compute request input data. <a href="structlmc__group__collide__req.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structlmc__group__collide__resp.html">lmc_group_collide_resp</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Collision compute response output data. <a href="structlmc__group__collide__resp.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr class="memitem:gab85bc3bdf98dcd01e2d236f0806aeabc"><td class="memItemLeft" align="right" valign="top">typedef struct lmc_group_model </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a></td></tr>
<tr class="memdesc:gab85bc3bdf98dcd01e2d236f0806aeabc"><td class="mdescLeft"> </td><td class="mdescRight">Group model data structure. <a href="#gab85bc3bdf98dcd01e2d236f0806aeabc">More...</a><br /></td></tr>
<tr class="separator:gab85bc3bdf98dcd01e2d236f0806aeabc"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga58c6f1c3d39b7519b9d695d9425cb901"><td class="memItemLeft" align="right" valign="top">typedef struct lmc_group_state </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a></td></tr>
<tr class="memdesc:ga58c6f1c3d39b7519b9d695d9425cb901"><td class="mdescLeft"> </td><td class="mdescRight">Group state data structure, used for collision detect and motion planner. <a href="#ga58c6f1c3d39b7519b9d695d9425cb901">More...</a><br /></td></tr>
<tr class="separator:ga58c6f1c3d39b7519b9d695d9425cb901"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gab7a19022517349432cf9b6a3c52f93b5"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structlmc__group__joint__info.html">lmc_group_joint_info</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#gab7a19022517349432cf9b6a3c52f93b5">lmc_group_joint_info_t</a></td></tr>
<tr class="memdesc:gab7a19022517349432cf9b6a3c52f93b5"><td class="mdescLeft"> </td><td class="mdescRight">Group joint information. <a href="#gab7a19022517349432cf9b6a3c52f93b5">More...</a><br /></td></tr>
<tr class="separator:gab7a19022517349432cf9b6a3c52f93b5"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaeabe0dbbe4447a5a5f3dd02dea60cf6a"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structlmc__group__link__pair.html">lmc_group_link_pair</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#gaeabe0dbbe4447a5a5f3dd02dea60cf6a">lmc_group_link_pair_t</a></td></tr>
<tr class="memdesc:gaeabe0dbbe4447a5a5f3dd02dea60cf6a"><td class="mdescLeft"> </td><td class="mdescRight">Link pair data. <a href="#gaeabe0dbbe4447a5a5f3dd02dea60cf6a">More...</a><br /></td></tr>
<tr class="separator:gaeabe0dbbe4447a5a5f3dd02dea60cf6a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gae44e32a893e44a76f36c5069f1f8c104"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structlmc__group__ignore__link__pairs.html">lmc_group_ignore_link_pairs</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#gae44e32a893e44a76f36c5069f1f8c104">lmc_group_ignore_link_pairs_t</a></td></tr>
<tr class="memdesc:gae44e32a893e44a76f36c5069f1f8c104"><td class="mdescLeft"> </td><td class="mdescRight">link collision ignore pair data. <a href="#gae44e32a893e44a76f36c5069f1f8c104">More...</a><br /></td></tr>
<tr class="separator:gae44e32a893e44a76f36c5069f1f8c104"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga5984d46b2c452b91a5101a10d33d142f"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structlmc__group__collide__req.html">lmc_group_collide_req</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga5984d46b2c452b91a5101a10d33d142f">lmc_group_collide_req_t</a></td></tr>
<tr class="memdesc:ga5984d46b2c452b91a5101a10d33d142f"><td class="mdescLeft"> </td><td class="mdescRight">Collision compute request input data. <a href="#ga5984d46b2c452b91a5101a10d33d142f">More...</a><br /></td></tr>
<tr class="separator:ga5984d46b2c452b91a5101a10d33d142f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga9892c939b4ffcf609d1bb4ff95307cfd"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structlmc__group__collide__resp.html">lmc_group_collide_resp</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga9892c939b4ffcf609d1bb4ff95307cfd">lmc_group_collide_resp_t</a></td></tr>
<tr class="memdesc:ga9892c939b4ffcf609d1bb4ff95307cfd"><td class="mdescLeft"> </td><td class="mdescRight">Collision compute response output data. <a href="#ga9892c939b4ffcf609d1bb4ff95307cfd">More...</a><br /></td></tr>
<tr class="separator:ga9892c939b4ffcf609d1bb4ff95307cfd"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:ga355fb73996582aaca92871cc7be249ff"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga355fb73996582aaca92871cc7be249ff">lmc_group_model_new</a> ()</td></tr>
<tr class="memdesc:ga355fb73996582aaca92871cc7be249ff"><td class="mdescLeft"> </td><td class="mdescRight">Create a group model instance. <a href="#ga355fb73996582aaca92871cc7be249ff">More...</a><br /></td></tr>
<tr class="separator:ga355fb73996582aaca92871cc7be249ff"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga0a6082d3dc9503cf80d0f673889b4922"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga0a6082d3dc9503cf80d0f673889b4922">lmc_group_model_delete</a> (<a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> **group_model_addr)</td></tr>
<tr class="memdesc:ga0a6082d3dc9503cf80d0f673889b4922"><td class="mdescLeft"> </td><td class="mdescRight">Delete a group model instance. <a href="#ga0a6082d3dc9503cf80d0f673889b4922">More...</a><br /></td></tr>
<tr class="separator:ga0a6082d3dc9503cf80d0f673889b4922"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gad49ede5ee834a36b3fe07e70ca144826"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#gad49ede5ee834a36b3fe07e70ca144826">lmc_group_model_init_from_urdf_file</a> (<a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> *const group_model, char const *const filename)</td></tr>
<tr class="memdesc:gad49ede5ee834a36b3fe07e70ca144826"><td class="mdescLeft"> </td><td class="mdescRight">Init a group model from a urdf file. <a href="#gad49ede5ee834a36b3fe07e70ca144826">More...</a><br /></td></tr>
<tr class="separator:gad49ede5ee834a36b3fe07e70ca144826"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gae9ae2180cba3ccd45f13ea8798fb1567"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#gae9ae2180cba3ccd45f13ea8798fb1567">lmc_group_model_get_joint_info</a> (<a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> const *const group_model, <a class="el" href="group___g_r_o_u_p.html#gab7a19022517349432cf9b6a3c52f93b5">lmc_group_joint_info_t</a> *const joint_info)</td></tr>
<tr class="memdesc:gae9ae2180cba3ccd45f13ea8798fb1567"><td class="mdescLeft"> </td><td class="mdescRight">Get joint information of group mdel. <a href="#gae9ae2180cba3ccd45f13ea8798fb1567">More...</a><br /></td></tr>
<tr class="separator:gae9ae2180cba3ccd45f13ea8798fb1567"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga407a7d6af95532feb697244daf051de9"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga407a7d6af95532feb697244daf051de9">lmc_group_model_get_ignore_link_pairs</a> (<a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> const *const group_model, <a class="el" href="group___g_r_o_u_p.html#gae44e32a893e44a76f36c5069f1f8c104">lmc_group_ignore_link_pairs_t</a> *const ignore_link_pairs)</td></tr>
<tr class="memdesc:ga407a7d6af95532feb697244daf051de9"><td class="mdescLeft"> </td><td class="mdescRight">Get current ignore link pairs data. <a href="#ga407a7d6af95532feb697244daf051de9">More...</a><br /></td></tr>
<tr class="separator:ga407a7d6af95532feb697244daf051de9"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga96a1b64051d392059feb959c1e768b80"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga96a1b64051d392059feb959c1e768b80">lmc_group_model_insert_ignore_link_pair</a> (<a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> const *const group_model, <a class="el" href="group___g_r_o_u_p.html#gaeabe0dbbe4447a5a5f3dd02dea60cf6a">lmc_group_link_pair_t</a> const *const link_pair)</td></tr>
<tr class="memdesc:ga96a1b64051d392059feb959c1e768b80"><td class="mdescLeft"> </td><td class="mdescRight">Insert a new ignore link pair data for group_model. <a href="#ga96a1b64051d392059feb959c1e768b80">More...</a><br /></td></tr>
<tr class="separator:ga96a1b64051d392059feb959c1e768b80"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga103419b436e5e1207ac351a6d33ee3b8"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga103419b436e5e1207ac351a6d33ee3b8">lmc_group_model_erase_ignore_link_pair</a> (<a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> const *const group_model, <a class="el" href="group___g_r_o_u_p.html#gaeabe0dbbe4447a5a5f3dd02dea60cf6a">lmc_group_link_pair_t</a> const *const link_pair)</td></tr>
<tr class="memdesc:ga103419b436e5e1207ac351a6d33ee3b8"><td class="mdescLeft"> </td><td class="mdescRight">Erase a new ignore link pair data for group_model. <a href="#ga103419b436e5e1207ac351a6d33ee3b8">More...</a><br /></td></tr>
<tr class="separator:ga103419b436e5e1207ac351a6d33ee3b8"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga1ea0cad02c25a936e0dc5f2563c915d2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga1ea0cad02c25a936e0dc5f2563c915d2">lmc_group_state_new</a> ()</td></tr>
<tr class="memdesc:ga1ea0cad02c25a936e0dc5f2563c915d2"><td class="mdescLeft"> </td><td class="mdescRight">Create a group state instance. <a href="#ga1ea0cad02c25a936e0dc5f2563c915d2">More...</a><br /></td></tr>
<tr class="separator:ga1ea0cad02c25a936e0dc5f2563c915d2"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga4880b88ac3b981da0558709d31f62246"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga4880b88ac3b981da0558709d31f62246">lmc_group_state_delete</a> (<a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> **group_state_addr)</td></tr>
<tr class="memdesc:ga4880b88ac3b981da0558709d31f62246"><td class="mdescLeft"> </td><td class="mdescRight">Delete a group state instance. <a href="#ga4880b88ac3b981da0558709d31f62246">More...</a><br /></td></tr>
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<tr class="memitem:gaefd53d69a0509e4adcbe17a4102631bc"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#gaefd53d69a0509e4adcbe17a4102631bc">lmc_group_state_init</a> (<a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const group_state, <a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> const *const group_model)</td></tr>
<tr class="memdesc:gaefd53d69a0509e4adcbe17a4102631bc"><td class="mdescLeft"> </td><td class="mdescRight">Init a group model from a urdf file. <a href="#gaefd53d69a0509e4adcbe17a4102631bc">More...</a><br /></td></tr>
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<tr class="memitem:ga8c31216be7ca840e1a892f26faafa8fa"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga8c31216be7ca840e1a892f26faafa8fa">lmc_group_state_set_jnt_pos</a> (<a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const group_state, double const *const joint_pos)</td></tr>
<tr class="memdesc:ga8c31216be7ca840e1a892f26faafa8fa"><td class="mdescLeft"> </td><td class="mdescRight">Set jnt pos of group state. Just set the joint position, no internal computing will happend. <a href="#ga8c31216be7ca840e1a892f26faafa8fa">More...</a><br /></td></tr>
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<tr class="memitem:gae5d01293e5266e92bd9312e76ef752e5"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#gae5d01293e5266e92bd9312e76ef752e5">lmc_group_state_update</a> (<a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const group_state, <a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> const *const group_model)</td></tr>
<tr class="memdesc:gae5d01293e5266e92bd9312e76ef752e5"><td class="mdescLeft"> </td><td class="mdescRight">Update the internal kinematic and collision object data of group state. <a href="#gae5d01293e5266e92bd9312e76ef752e5">More...</a><br /></td></tr>
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<tr class="memitem:ga69dd82207c10ff029e9d2f498dde8710"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga69dd82207c10ff029e9d2f498dde8710">lmc_group_state_collide</a> (<a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const group_state, <a class="el" href="group___g_r_o_u_p.html#ga5984d46b2c452b91a5101a10d33d142f">lmc_group_collide_req_t</a> const *const req, <a class="el" href="group___g_r_o_u_p.html#ga9892c939b4ffcf609d1bb4ff95307cfd">lmc_group_collide_resp_t</a> *const resp)</td></tr>
<tr class="memdesc:ga69dd82207c10ff029e9d2f498dde8710"><td class="mdescLeft"> </td><td class="mdescRight">Self collide compute of a group state. <a href="#ga69dd82207c10ff029e9d2f498dde8710">More...</a><br /></td></tr>
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<tr class="memitem:gacdbc44e4e264f40af85f402ed2691c87"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#gacdbc44e4e264f40af85f402ed2691c87">lmc_group_state_distance</a> (<a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const group_state)</td></tr>
<tr class="memdesc:gacdbc44e4e264f40af85f402ed2691c87"><td class="mdescLeft"> </td><td class="mdescRight">Self distance compute of a group state. <a href="#gacdbc44e4e264f40af85f402ed2691c87">More...</a><br /></td></tr>
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<tr class="memitem:gadc1c16cb517b5886d9060d0cea95482f"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#gadc1c16cb517b5886d9060d0cea95482f">lmc_group_state_pair_collide</a> (<a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const group_state_a, <a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const group_state_b, <a class="el" href="group___g_r_o_u_p.html#ga5984d46b2c452b91a5101a10d33d142f">lmc_group_collide_req_t</a> const *const req, <a class="el" href="group___g_r_o_u_p.html#ga9892c939b4ffcf609d1bb4ff95307cfd">lmc_group_collide_resp_t</a> *const resp)</td></tr>
<tr class="memdesc:gadc1c16cb517b5886d9060d0cea95482f"><td class="mdescLeft"> </td><td class="mdescRight">Pair collide compute of two group states. <a href="#gadc1c16cb517b5886d9060d0cea95482f">More...</a><br /></td></tr>
<tr class="separator:gadc1c16cb517b5886d9060d0cea95482f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga45c83afb67895b5d9f2df22a1d14ed60"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="group___g_r_o_u_p.html#ga45c83afb67895b5d9f2df22a1d14ed60">lmc_group_state_pair_distance</a> (<a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const group_state_a, <a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const group_state_b)</td></tr>
<tr class="memdesc:ga45c83afb67895b5d9f2df22a1d14ed60"><td class="mdescLeft"> </td><td class="mdescRight">Pair distance compute of a group state. <a href="#ga45c83afb67895b5d9f2df22a1d14ed60">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<p>Group module. </p>
<h2 class="groupheader">Typedef Documentation</h2>
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<td class="memname">typedef struct <a class="el" href="structlmc__group__collide__req.html">lmc_group_collide_req</a> <a class="el" href="group___g_r_o_u_p.html#ga5984d46b2c452b91a5101a10d33d142f">lmc_group_collide_req_t</a></td>
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<p>Collision compute request input data. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
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<td class="memname">typedef struct <a class="el" href="structlmc__group__collide__resp.html">lmc_group_collide_resp</a> <a class="el" href="group___g_r_o_u_p.html#ga9892c939b4ffcf609d1bb4ff95307cfd">lmc_group_collide_resp_t</a></td>
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<p>Collision compute response output data. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
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<td class="memname">typedef struct <a class="el" href="structlmc__group__ignore__link__pairs.html">lmc_group_ignore_link_pairs</a> <a class="el" href="group___g_r_o_u_p.html#gae44e32a893e44a76f36c5069f1f8c104">lmc_group_ignore_link_pairs_t</a></td>
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<p>link collision ignore pair data. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
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<td class="memname">typedef struct <a class="el" href="structlmc__group__joint__info.html">lmc_group_joint_info</a> <a class="el" href="group___g_r_o_u_p.html#gab7a19022517349432cf9b6a3c52f93b5">lmc_group_joint_info_t</a></td>
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<p>Group joint information. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
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<td class="memname">typedef struct <a class="el" href="structlmc__group__link__pair.html">lmc_group_link_pair</a> <a class="el" href="group___g_r_o_u_p.html#gaeabe0dbbe4447a5a5f3dd02dea60cf6a">lmc_group_link_pair_t</a></td>
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<p>Link pair data. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
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<td class="memname">typedef struct lmc_group_model <a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a></td>
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<p>Group model data structure. </p>
<p>The details of this data structure is hidden in c files. We do not use the structure member directly, try to use the API. </p>
<p>Definition at line <a class="el" href="lmc__group_8h_source.html#l00030">30</a> of file <a class="el" href="lmc__group_8h_source.html">lmc_group.h</a>.</p>
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<td class="memname">typedef struct lmc_group_state <a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a></td>
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<p>Group state data structure, used for collision detect and motion planner. </p>
<p>The details of this data structure is hidden in c files. We do not use the structure member directly, try to use the API. </p>
<p>Definition at line <a class="el" href="lmc__group_8h_source.html#l00037">37</a> of file <a class="el" href="lmc__group_8h_source.html">lmc_group.h</a>.</p>
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<h2 class="groupheader">Function Documentation</h2>
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<td class="memname">void lmc_group_model_delete </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> ** </td>
<td class="paramname"><em>group_model_addr</em></td><td>)</td>
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<p>Delete a group model instance. </p>
<dl class="section note"><dt>Note</dt><dd>The group_model_addr pointer will be set to NULL. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_model_addr</td><td>The address of the group model pointer. </td></tr>
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<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example_urdf_group_8cc-example.html#a19">example_urdf_group.cc</a>.</dd>
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<td class="memname">int lmc_group_model_erase_ignore_link_pair </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> const *const </td>
<td class="paramname"><em>group_model</em>, </td>
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<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#gaeabe0dbbe4447a5a5f3dd02dea60cf6a">lmc_group_link_pair_t</a> const *const </td>
<td class="paramname"><em>link_pair</em> </td>
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<p>Erase a new ignore link pair data for group_model. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramdir">[in]</td><td class="paramname">group_model</td><td>Group model data pointer </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">link_pair</td><td>Link pair data to be erased. </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Return 0 on success, otherwise failure. </dd></dl>
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<td class="memname">int lmc_group_model_get_ignore_link_pairs </td>
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<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> const *const </td>
<td class="paramname"><em>group_model</em>, </td>
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<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#gae44e32a893e44a76f36c5069f1f8c104">lmc_group_ignore_link_pairs_t</a> *const </td>
<td class="paramname"><em>ignore_link_pairs</em> </td>
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<p>Get current ignore link pairs data. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_model</td><td>group model data pointer </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">ignore_link_pairs</td><td>ignore link pairs data. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Return 0 on success, otherwise failure. </dd></dl>
</div>
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<td class="memname">int lmc_group_model_get_joint_info </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> const *const </td>
<td class="paramname"><em>group_model</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#gab7a19022517349432cf9b6a3c52f93b5">lmc_group_joint_info_t</a> *const </td>
<td class="paramname"><em>joint_info</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<p>Get joint information of group mdel. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_model</td><td>group model data pointer </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">joint_info</td><td>joint information data. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Return 0 on success, otherwise failure. </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example_urdf_group_8cc-example.html#a4">example_urdf_group.cc</a>.</dd>
</dl>
</div>
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<td class="memname">int lmc_group_model_init_from_urdf_file </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> *const </td>
<td class="paramname"><em>group_model</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">char const *const </td>
<td class="paramname"><em>filename</em> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Init a group model from a urdf file. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_model</td><td>group model data pointer </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">filename</td><td>urdf file name. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Return 0 on success, otherwise failure. </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example_urdf_group_8cc-example.html#a2">example_urdf_group.cc</a>.</dd>
</dl>
</div>
</div>
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<td class="memname">int lmc_group_model_insert_ignore_link_pair </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> const *const </td>
<td class="paramname"><em>group_model</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#gaeabe0dbbe4447a5a5f3dd02dea60cf6a">lmc_group_link_pair_t</a> const *const </td>
<td class="paramname"><em>link_pair</em> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Insert a new ignore link pair data for group_model. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_model</td><td>Group model data pointer </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">link_pair</td><td>Link pair data to be inserted. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Return 0 on success, otherwise failure. </dd></dl>
</div>
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<td class="memname"><a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a>* lmc_group_model_new </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
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<p>Create a group model instance. </p>
<dl class="section note"><dt>Note</dt><dd>Group model is a data structure contains kinematic and model info. It's a model data structure contains model(kinematic, geometry shape, and etc...) information. These information will be used in collision detection and motion planner algortihm. Group model must be init by calling <a class="el" href="group___g_r_o_u_p.html#gad49ede5ee834a36b3fe07e70ca144826">lmc_group_model_init_from_urdf_file</a> before any usage. </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example_urdf_group_8cc-example.html#a1">example_urdf_group.cc</a>.</dd>
</dl>
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<td class="memname">int lmc_group_state_collide </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const </td>
<td class="paramname"><em>group_state</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga5984d46b2c452b91a5101a10d33d142f">lmc_group_collide_req_t</a> const *const </td>
<td class="paramname"><em>req</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga9892c939b4ffcf609d1bb4ff95307cfd">lmc_group_collide_resp_t</a> *const </td>
<td class="paramname"><em>resp</em> </td>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Self collide compute of a group state. </p>
<dl class="section note"><dt>Note</dt><dd>Set req to NULL will not computing detailed coliision information, which make computing faster. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_state</td><td>Group state pointer </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">req</td><td>Collision check detailed information input. </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">resp</td><td>Collision check detailed information output. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Return 1 when colliding, return 0 when not colliding. </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example_urdf_group_8cc-example.html#a7">example_urdf_group.cc</a>.</dd>
</dl>
</div>
</div>
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<td class="memname">void lmc_group_state_delete </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> ** </td>
<td class="paramname"><em>group_state_addr</em></td><td>)</td>
<td></td>
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<p>Delete a group state instance. </p>
<dl class="section note"><dt>Note</dt><dd>The group_state_addr pointer will be set to NULL. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_state_addr</td><td>The address of the group state pointer. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example_urdf_group_8cc-example.html#a18">example_urdf_group.cc</a>.</dd>
</dl>
</div>
</div>
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<td class="memname">double lmc_group_state_distance </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const </td>
<td class="paramname"><em>group_state</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Self distance compute of a group state. </p>
<dl class="section note"><dt>Note</dt><dd>Set req to NULL will not computing detailed coliision information, which make computing faster. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_state</td><td>Group state pointer </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Distance computed. </dd></dl>
</div>
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<td class="memname">int lmc_group_state_init </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const </td>
<td class="paramname"><em>group_state</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> const *const </td>
<td class="paramname"><em>group_model</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Init a group model from a urdf file. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_state</td><td>group state pointer. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">group_model</td><td>group model pointer. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Return 0 on success, otherwise failure. </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example_urdf_group_8cc-example.html#a6">example_urdf_group.cc</a>.</dd>
</dl>
</div>
</div>
<a class="anchor" id="ga1ea0cad02c25a936e0dc5f2563c915d2"></a>
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<td class="memname"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a>* lmc_group_state_new </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Create a group state instance. </p>
<dl class="section note"><dt>Note</dt><dd>Group state must be init by calling <a class="el" href="group___g_r_o_u_p.html#gaefd53d69a0509e4adcbe17a4102631bc">lmc_group_state_init</a> before any usage. </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example_urdf_group_8cc-example.html#a5">example_urdf_group.cc</a>.</dd>
</dl>
</div>
</div>
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<td class="memname">int lmc_group_state_pair_collide </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const </td>
<td class="paramname"><em>group_state_a</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const </td>
<td class="paramname"><em>group_state_b</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga5984d46b2c452b91a5101a10d33d142f">lmc_group_collide_req_t</a> const *const </td>
<td class="paramname"><em>req</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga9892c939b4ffcf609d1bb4ff95307cfd">lmc_group_collide_resp_t</a> *const </td>
<td class="paramname"><em>resp</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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<p>Pair collide compute of two group states. </p>
<dl class="section note"><dt>Note</dt><dd>Set req to NULL will not computing detailed coliision information, which make computing faster. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_state_a</td><td>First group state pointer. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">group_state_b</td><td>Second group state pointer. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">req</td><td>Collision check detailed information input. </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">resp</td><td>Collision check detailed information output. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Return 1 when colliding, return 0 when not colliding. </dd></dl>
</div>
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<td class="memname">double lmc_group_state_pair_distance </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const </td>
<td class="paramname"><em>group_state_a</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const </td>
<td class="paramname"><em>group_state_b</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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</div><div class="memdoc">
<p>Pair distance compute of a group state. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_state_a</td><td>First group state pointer </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">group_state_b</td><td>Second group state pointer. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Distance computed. </dd></dl>
</div>
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<td class="memname">int lmc_group_state_set_jnt_pos </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const </td>
<td class="paramname"><em>group_state</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double const *const </td>
<td class="paramname"><em>joint_pos</em> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Set jnt pos of group state. Just set the joint position, no internal computing will happend. </p>
<dl class="section note"><dt>Note</dt><dd>This function only set joint positions, no internal kinematic state and collision object transform will be computed and updated. To compute and refresh the internal data, you need to call <a class="el" href="group___g_r_o_u_p.html#gae5d01293e5266e92bd9312e76ef752e5">lmc_group_state_update</a>. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_state</td><td>group state pointer </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">joint_pos</td><td>joint pisition of this group state </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Return 0 on success, otherwise failure. </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example_urdf_group_8cc-example.html#a8">example_urdf_group.cc</a>.</dd>
</dl>
</div>
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<td class="memname">int lmc_group_state_update </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#ga58c6f1c3d39b7519b9d695d9425cb901">lmc_group_state_t</a> *const </td>
<td class="paramname"><em>group_state</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group___g_r_o_u_p.html#gab85bc3bdf98dcd01e2d236f0806aeabc">lmc_group_model_t</a> const *const </td>
<td class="paramname"><em>group_model</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<p>Update the internal kinematic and collision object data of group state. </p>
<dl class="section note"><dt>Note</dt><dd></dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">group_state</td><td>group state pointer </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">group_model</td><td>group model pointer. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Return 0 when colliding, return 0 when not colliding. </dd></dl>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example_urdf_group_8cc-example.html#a9">example_urdf_group.cc</a>.</dd>
</dl>
</div>
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