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| PerturbationCSpace (CSpace *baseSpace, const std::vector< Vector > &perturbations) |
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virtual void | Sample (Config &q) |
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virtual Config | Perturb (const Config &q, const Vector &perturbation) |
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virtual bool | IsFeasible (const Config &q, int obstacle) |
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virtual EdgePlannerPtr | LocalPlanner (const Config &a, const Config &b, int obstacle) |
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virtual EdgePlannerPtr | PathChecker (const Config &a, const Config &b, int obstacle) |
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virtual int | NumObstacles () |
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virtual std::string | ObstacleName (int obstacle) |
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virtual Real | ObstacleDistance (const Config &a, int obstacle) |
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virtual void | Properties (PropertyMap &map) const |
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void | AddConstraint (const std::string &name, CSet *constraint) |
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void | AddConstraint (const std::string &name, const std::shared_ptr< CSet > &constraint) |
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void | AddConstraint (const std::string &name, CSet::CPredicate test) |
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void | CopyConstraints (const CSpace *space, const std::string &prefix="") |
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virtual int | NumDimensions () |
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virtual std::string | VariableName (int i) |
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virtual int | NumConstraints () |
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virtual std::string | ConstraintName (int i) |
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virtual std::shared_ptr< CSet > | Constraint (int i) |
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virtual void | SampleNeighborhood (const Config &c, Real r, Config &x) |
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virtual bool | IsFeasible (const Config &) |
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virtual EdgePlannerPtr | LocalPlanner (const Config &a, const Config &b) |
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virtual EdgePlannerPtr | PathChecker (const Config &a, const Config &b) |
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virtual Real | Distance (const Config &x, const Config &y) |
| optionally overrideable (default uses euclidean space)
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virtual void | Interpolate (const Config &x, const Config &y, Real u, Config &out) |
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virtual void | Midpoint (const Config &x, const Config &y, Config &out) |
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virtual bool | ProjectFeasible (Config &x) |
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virtual Optimization::NonlinearProgram * | FeasibleNumeric () |
| If possible, give the feasible set as a nonlinear program.
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virtual Real | ObstacleDistance (const Config &a) |
| for local planners using obstacle distance
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virtual void | Properties (PropertyMap &) |
| Returns properties of the space that might be useful for planners. More...
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virtual void | CheckConstraints (const Config &, std::vector< bool > &satisfied) |
| Returns a vector indicating which constraints are satisfied.
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void | GetFeasibleNames (const Config &q, std::vector< std::string > &names) |
| Gets a list of feasible obstacles for the given configuration.
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void | GetInfeasibleNames (const Config &q, std::vector< std::string > &names) |
| Gets a list of infeasible obstacles for the given configuration.
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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.
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