KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
PerturbationCSpace Class Reference
Inheritance diagram for PerturbationCSpace:
CSpace

Public Member Functions

 PerturbationCSpace (CSpace *baseSpace, const std::vector< Vector > &perturbations)
 
virtual void Sample (Config &q)
 
virtual Config Perturb (const Config &q, const Vector &perturbation)
 
virtual bool IsFeasible (const Config &q, int obstacle)
 
virtual EdgePlannerPtr LocalPlanner (const Config &a, const Config &b, int obstacle)
 
virtual EdgePlannerPtr PathChecker (const Config &a, const Config &b, int obstacle)
 
virtual int NumObstacles ()
 
virtual std::string ObstacleName (int obstacle)
 
virtual Real ObstacleDistance (const Config &a, int obstacle)
 
virtual void Properties (PropertyMap &map) const
 
- Public Member Functions inherited from CSpace
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< CSetConstraint (int i)
 
virtual void SampleNeighborhood (const Config &c, Real r, Config &x)
 
virtual bool IsFeasible (const Config &)
 
virtual EdgePlannerPtr LocalPlanner (const Config &a, const Config &b)
 
virtual EdgePlannerPtr PathChecker (const Config &a, const Config &b)
 
virtual Real Distance (const Config &x, const Config &y)
 optionally overrideable (default uses euclidean space)
 
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::NonlinearProgramFeasibleNumeric ()
 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.
 

Public Attributes

CSpacebaseSpace
 
std::vector< Vectorperturbations
 
- Public Attributes inherited from CSpace
std::vector< std::string > constraintNames
 
std::vector< std::shared_ptr< CSet > > constraints
 

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