Klamp't
0.8.1
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Just like a SmoothConstrainedInterpolator but only projects the active DOFs. Much faster for high-DOF system with sparse constraints. More...
#include <RobotConstrainedInterpolator.h>
Public Member Functions | |
RobotSmoothConstrainedInterpolator (Robot &robot, const vector< IKGoal > &goals) | |
virtual void | ConstraintValue (const Config &x, Vector &v) |
virtual bool | Project (Config &x) |
virtual bool | ProjectVelocity (const Config &x, Vector &v) |
Public Member Functions inherited from SmoothConstrainedInterpolator | |
SmoothConstrainedInterpolator (CSpace *space, VectorFieldFunction *constraint) | |
bool | Make (const Config &a, const Config &b, GeneralizedCubicBezierSpline &path, bool checkConstraints=false) |
bool | Make (const Config &a, const Vector &da, const Config &b, const Vector &db, GeneralizedCubicBezierSpline &path, bool checkConstraints=false) |
virtual bool | ProjectVelocity (const Config &x, Config &v) |
Public Attributes | |
RobotCSpace | space |
RobotIKFunction | f |
Public Attributes inherited from SmoothConstrainedInterpolator | |
CSpace * | space |
GeodesicSpace * | manifold |
VectorFieldFunction * | constraint |
Config | xmin |
Config | xmax |
if set, uses bounds in the newton solver | |
VectorFieldFunction * | inequalities |
if set, uses a nonlinear constraint in the newton solver | |
int | maxNewtonIters |
Real | ftol |
Real | xtol |
Real | maxGrowth |
Optimization::NewtonRoot | solver |
Just like a SmoothConstrainedInterpolator but only projects the active DOFs. Much faster for high-DOF system with sparse constraints.