ParabolicRamp::RampFeasibilityChecker Class Reference

A class that encapsulates feaibility checking of a ParabolicRampND. More...

#include <DynamicPath.h>

Public Member Functions
	RampFeasibilityChecker (FeasibilityCheckerBase *feas, Real tol)
	RampFeasibilityChecker (FeasibilityCheckerBase *feas, DistanceCheckerBase *distance, int maxiters)
bool	Check (const ParabolicRampND &x)

Public Attributes
FeasibilityCheckerBase *	feas
Real	tol
DistanceCheckerBase *	distance
int	maxiters

Detailed Description

A class that encapsulates feaibility checking of a ParabolicRampND.

If given a feasibility checker and a tolerance tol, this performs a piecewise linear discretization that deviates no more than tol from the parabolic ramp along any axis, and then checks for configuration and segment feasibility along that piecewise linear path.

If given a feasibility checker and a distance checker, this performs an exact recursive bisection.

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The documentation for this class was generated from the following file:

• DynamicPath.h