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

Just like a SmoothConstrainedInterpolator but only projects the active DOFs. Much faster for high-DOF system with sparse constraints. More...

#include <RobotConstrainedInterpolator.h>

Inheritance diagram for RobotSmoothConstrainedInterpolator:
SmoothConstrainedInterpolator

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
 

Detailed Description

Just like a SmoothConstrainedInterpolator but only projects the active DOFs. Much faster for high-DOF system with sparse constraints.


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