|
| Grid2DCSpace (int m, int n) |
|
void | WorldToGrid (const Vector2 &world, Vector2 &grid) |
|
void | GridToWorld (const Vector2 &grid, Vector2 &world) |
|
void | Add (const Triangle2D &tri, bool obstacle=true) |
|
void | Add (const AABB2D &bbox, bool obstacle=true) |
|
void | Add (const Circle2D &sphere, bool obstacle=true) |
|
void | Rasterize (CSpace *space) |
|
void | DrawGL () |
|
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 InterpolatorPtr &b) |
|
virtual Real | Distance (const Config &x, const Config &y) |
| optionally overrideable (default uses euclidean space)
|
|
void | AddConstraint (const std::string &name, CSet *constraint) |
|
void | AddConstraint (const std::string &name, const std::shared_ptr< CSet > &constraint) |
|
void | AddConstraint (const std::string &name, CSet::CPredicate test) |
|
void | CopyConstraints (const CSpace *space, const std::string &prefix="") |
|
virtual int | NumDimensions () |
|
virtual std::string | VariableName (int i) |
|
virtual int | NumConstraints () |
|
virtual std::string | ConstraintName (int i) |
|
virtual std::shared_ptr< CSet > | Constraint (int i) |
|
virtual bool | IsFeasible (const Config &, int constraint) |
|
virtual EdgePlannerPtr | LocalPlanner (const Config &a, const Config &b) |
|
virtual EdgePlannerPtr | PathChecker (const Config &a, const Config &b) |
|
virtual EdgePlannerPtr | PathChecker (const Config &a, const Config &b, int constraint) |
|
virtual void | Interpolate (const Config &x, const Config &y, Real u, Config &out) |
|
virtual void | Midpoint (const Config &x, const Config &y, Config &out) |
|
virtual bool | ProjectFeasible (Config &x) |
|
virtual Optimization::NonlinearProgram * | FeasibleNumeric () |
| If possible, give the feasible set as a nonlinear program.
|
|
virtual Real | ObstacleDistance (const Config &a) |
| for local planners using obstacle distance
|
|
virtual void | Properties (PropertyMap &) |
| Returns properties of the space that might be useful for planners. More...
|
|
virtual void | CheckConstraints (const Config &, std::vector< bool > &satisfied) |
| Returns a vector indicating which constraints are satisfied.
|
|
void | GetFeasibleNames (const Config &q, std::vector< std::string > &names) |
| Gets a list of feasible obstacles for the given configuration.
|
|
void | GetInfeasibleNames (const Config &q, std::vector< std::string > &names) |
| Gets a list of infeasible obstacles for the given configuration.
|
|
void | PrintInfeasibleNames (const Config &q, std::ostream &out=std::cout, const char *prefix="", const char *suffix="\n") |
| Prints out the list of infeasible obstacles for the given configuration.
|
|