Commit 4f5ce9f9 authored by Fumio KANEHIRO's avatar Fumio KANEHIRO
Browse files

* remove ChppColPair::dof since it was not used

* enable comments
parent 36fb3bbd
......@@ -7,42 +7,59 @@
#include <utility> // pair
#include <functional> // greater
// using namespace std;
/// \brief Collision pair generating class
/**
\brief Collision pair generating class
*/
class ChppColPair { // friend?
typedef std::pair<unsigned int, std::vector<unsigned int> > cPair;
typedef std::map< unsigned int, std::vector<unsigned int>, std::less<unsigned int> > cMap;
unsigned int dof;
std::vector<unsigned int> tmp;
/**
\brief self collision table
*/
cMap mapCol;
// \brief self collision table
public:
ChppColPair(unsigned int tblDof);
// \brief constructor with initialization with number of DOF
/**
\brief constructor
*/
ChppColPair();
/**
\brief destructor
*/
~ChppColPair();
// \brief destructor
/**
\brief add a link jounsigned int j1 as collision-checking pair of j2
*/
bool addColPair(unsigned int j1, unsigned int j2);
// \brief add a link jounsigned int j1 as collision-checking pair of j2
/**
\brief add a link for jounsigned int j1 as collision-checking pair from j2from of j2to
*/
bool addColPairRange(unsigned int j1, unsigned int j2from, unsigned int j2to);
// \brief add a link for jounsigned int j1 as collision-checking pair from j2from of j2to
/**
\brief check if there is already key j1
*/
bool existKey(unsigned int j1);
// \brief check if there is already key j1
/**
\brief check if there is already that pair in the table
*/
bool existPair(unsigned int j1, unsigned int j2);
// \brief check if there is already that pair in the table
/**
\brief check if there is value j2 for key j1
*/
bool existPairNarrow(unsigned int j1, unsigned int j2);
// \brief check if there is value j2 for key j1
/**
\brief get vector of collision pair for body of joint 1
*/
std::vector<unsigned int>& getColPairList(unsigned int j, bool& flag);
// \brief get vector of collision pair for body of joint 1
void printPair();
......
......@@ -4,9 +4,8 @@
// using namespace std;
ChppColPair::ChppColPair(unsigned int tblDof)
ChppColPair::ChppColPair()
{
dof = tblDof;
tmp.clear();
mapCol.clear();
}
......
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