Klamp't  0.8.1
Public Member Functions | Public Attributes | List of all members
RampCSpaceAdaptor Class Reference

A CSpace where configurations are given by (q,dq) config, velocity pairs. Local paths are time-optimal acceleration bounded curves. More...

#include <RampCSpace.h>

Inheritance diagram for RampCSpaceAdaptor:

Public Member Functions

 RampCSpaceAdaptor (CSpace *cspace, const Vector &velMax, const Vector &accMax)
 
virtual int NumDimensions () const
 
virtual bool IsFeasible (const State &s)
 
virtual void Sample (State &s)
 
virtual EdgePlannerPtr LocalPlanner (const State &a, const State &b)
 
virtual Real Distance (const State &x, const State &y)
 
virtual void Interpolate (const State &x, const State &y, Real u, State &out)
 
virtual void Properties (PropertyMap &props) const
 
bool IsFeasible (const Config &q, const Config &dq)
 

Public Attributes

CSpace * cspace
 
std::vector< Real > qMin
 
std::vector< Real > qMax
 
std::vector< Real > velMax
 
std::vector< Real > accMax
 
Real visibilityTolerance
 

Detailed Description

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.


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