Constructs a piecewise polynomial path between a and b such that each point is near the constraint C(x)=0. More...
#include <ConstrainedInterpolator.h>
Public Attributes | |
| 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
Constructs a piecewise polynomial path between a and b such that each point is near the constraint C(x)=0.
Interpolation is accomplished via a cubic bezier curve. This is slightly faster than taking a regular ConstrainedInterpolator and then post-smoothing it via a Bezier curve.
The method uses a recursive bisection technique, where the midpoint of each segment is projected to the constraint, and bisection continues until a given resolution is met. If checkConstraints is true, the feasibility of each projected point is also checked.
The projection uses a Newton-Raphson solver, capped at maxNewtonIters iterations. It ensures that each milestone satisfies ||C(x[k])|| <= ftol, and d(x[k],x[k+1])<=xtol.
maxGrowth defines the maximum extra distance that the path through a projected configuration can add to the total length of the path. That is, when going from x1 to x2, the projected midpoint xm is checked so that d(x1,xm), d(xm,x2) <= (1+maxGrowth)/2 d(x1,x2). To ensure convergence this parameter should be < 1 (default 0.9).
The documentation for this class was generated from the following file:
