A cspace consisting of a single robot configuration in a RobotWorld. Feasibility constraints are joint and collision constraints. More...
#include <RobotCSpace.h>
Inheritance diagram for SingleRobotCSpace:
Public Member Functions | |
| SingleRobotCSpace (RobotWorld &world, int index, WorldPlannerSettings *settings) | |
| SingleRobotCSpace (const SingleRobotCSpace &space) | |
| void | FixDof (int dof, Real value) |
| Fixes a single DOF to a given value. | |
| void | IgnoreCollisions (int a, int b) |
| Ignores collisions between world ID a and world ID b. | |
| void | Init () |
| virtual void | Sample (Config &x) |
| virtual void | SampleNeighborhood (const Config &c, Real r, Config &x) |
| virtual bool | IsFeasible (const Config &x) |
| virtual EdgePlannerPtr | PathChecker (const Config &a, const Config &b, int obstacle) |
| virtual EdgePlannerPtr | PathChecker (const Config &a, const Config &b) |
| virtual void | Properties (PropertyMap &map) |
| virtual void | GetJointLimits (Vector &bmin, Vector &bmax) |
| bool | UpdateGeometry (const Config &x) |
| bool | CheckJointLimits (const Config &x) |
| bool | CheckCollisionFree (const Config &x) |
 Public Member Functions inherited from RobotCSpace | |
| RobotCSpace (Robot &robot) | |
| RobotCSpace (const RobotCSpace &space) | |
| virtual int | NumDimensions () |
| virtual string | VariableName (int i) |
| virtual void | Interpolate (const Config &x, const Config &y, Real u, Config &out) |
| virtual Real | Distance (const Config &x, const Config &y) |
| 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 | |
| RobotWorld & | world |
| int | index |
| WorldPlannerSettings * | settings |
| vector< pair< int, int > > | collisionPairs |
| vector< Geometry::AnyCollisionQuery > | collisionQueries |
| vector< int > | fixedDofs |
| vector< Real > | fixedValues |
| vector< pair< int, int > > | ignoreCollisions |
| bool | constraintsDirty |
| Public Attributes inherited from RobotCSpace | |
| Robot & | robot |
| Real | norm |
| vector< Real > | jointWeights |
| Real | floatingRotationWeight |
| vector< Real > | jointRadiusScale |
| Real | floatingRotationRadiusScale |
Detailed Description
A cspace consisting of a single robot configuration in a RobotWorld. Feasibility constraints are joint and collision constraints.
Uses WorldPlannerSettings to determine the settings for collision constraints.
Allows fixing dofs and ignoring collisions between certain object pairs using the FixDof() / IgnoreCollisions() functions. IMPORTANT: After you call FixDof / IgnoreCollisions, you must call Init to reset the constraints.
The documentation for this class was generated from the following file:
