This package is a wrapper on the ann library available from <ahref="http://www.cs.umd.edu/~mount/ANN/">ANN library</a>. This package does not modify the contents of the original library in any manner and only wraps it for easy distribution with the ROS packaging system.
</description>
<author>Maintained by Jia Pan, Sachin Chitta</author>
/** \brief Check if a model is in collision with environment and self. Contacts are not computed */
virtualboolisCollision(void)const=0;
/** \brief Check for self collision. Contacts are not computed */
virtualboolisSelfCollision(void)const=0;
/** \brief Check whether the model is in collision with the environment. Self collisions are not checked */
virtualboolisEnvironmentCollision(void)const=0;
/** \brief Get the list of contacts (collisions). The maximum total number of contacts to be returned can be specified, and the max per pair of objects that are in collision*/
/** \brief This function will get the complete list of contacts between any two potentially colliding bodies. The num per contacts specifies the number of contacts per pair that will be returned */
/** \brief Remove all objects from collision model */
virtualvoidclearObjects(void)=0;
/** \brief Remove objects from a specific namespace in the collision model */
virtualvoidclearObjects(conststd::string&ns)=0;
/** \brief Tells whether or not there is an object with the given name in the collision model */
virtualboolhasObject(conststd::string&ns)const=0;
/** \brief Add a static collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment. */
/** \brief Add a collision object to the map. The user releases ownership of the passed object. Memory allocated for the shape is freed by the collision environment.*/
/** \brief Add a set of collision objects to the map. The user releases ownership of the passed objects. Memory allocated for the shapes is freed by the collision environment.*/
