Implements a basic robot configuration space with only joint limit constraint testing. More...
#include <RobotCSpace.h>
Inheritance diagram for RobotCSpace:
Public Member Functions | |
| RobotCSpace (Robot &robot) | |
| RobotCSpace (const RobotCSpace &space) | |
| virtual int | NumDimensions () |
| virtual string | VariableName (int i) |
| virtual void | Sample (Config &x) |
| virtual void | SampleNeighborhood (const Config &c, Real r, Config &out) |
| virtual void | Interpolate (const Config &x, const Config &y, Real u, Config &out) |
| virtual Real | Distance (const Config &x, const Config &y) |
| virtual void | Properties (PropertyMap &) |
| virtual void | InterpolateDeriv (const Config &a, const Config &b, Real u, Vector &dx) |
| virtual void | InterpolateDerivA (const Config &a, const Config &b, Real u, const Vector &da, Vector &dx) |
| virtual void | InterpolateDerivB (const Config &a, const Config &b, Real u, const Vector &db, Vector &dx) |
| virtual void | InterpolateDeriv2 (const Config &a, const Config &b, Real u, Vector &ddx) |
| virtual void | Integrate (const Config &a, const Vector &da, Config &b) |
Public Attributes | |
| Robot & | robot |
| Real | norm |
| vector< Real > | jointWeights |
| Real | floatingRotationWeight |
| vector< Real > | jointRadiusScale |
| Real | floatingRotationRadiusScale |
Detailed Description
Implements a basic robot configuration space with only joint limit constraint testing.
Note: floating joint translations are not sampled properly.
Weighted metrics are implemented by filling out the following: jointWeights: weights each deviation of the robot's joints. floatingRotationWeight: additionally weights the rotation components of floating joints.
The 'XRadiusScale' members should be filled out if SampleNeigborhood should use a different metric for sampling.
This class implements the proper geodesic for different robot joint types (e.g. floating joints.)
The documentation for this class was generated from the following file:
