Klamp't
0.8.1
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A CSpace where configurations are given by (q,dq) config, velocity pairs. Local paths are time-optimal acceleration bounded curves. More...
#include <RampCSpace.h>
Public Attributes | |
CSpace * | cspace |
std::vector< Real > | qMin |
std::vector< Real > | qMax |
std::vector< Real > | velMax |
std::vector< Real > | accMax |
Real | visibilityTolerance |
A CSpace where configurations are given by (q,dq) config, velocity pairs. Local paths are time-optimal acceleration bounded curves.
Configurations lie in a kinematically constrained cspace given on initialization. Velocities are bounded.