Converts an CSpace so that it only checks one or a subset of selected constraints. More...
#include <CSpaceHelpers.h>
Inheritance diagram for SubsetConstraintCSpace:
Public Member Functions | |
| SubsetConstraintCSpace (CSpace *baseSpace, const std::vector< int > &constraints) | |
| SubsetConstraintCSpace (CSpace *baseSpace, int constraints) | |
| virtual bool | IsFeasible (const Config &x) |
| virtual bool | IsFeasible (const Config &x, int obstacle) |
| virtual bool | ProjectFeasible (Config &x) |
| virtual Optimization::NonlinearProgram * | FeasibleNumeric () |
| If possible, give the feasible set as a nonlinear program. | |
| 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 obstacle) |
 Public Member Functions inherited from PiggybackCSpace | |
| PiggybackCSpace (CSpace *_baseSpace=NULL) | |
| 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 void | Sample (Config &x) |
| virtual void | SampleNeighborhood (const Config &c, Real r, Config &x) |
| 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 void | Properties (PropertyMap &map) |
| Returns properties of the space that might be useful for planners. More... | |
| 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 Real | ObstacleDistance (const Config &a) |
| for local planners using obstacle distance | |
| 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 | |
| std::vector< int > | activeConstraints |
| Public Attributes inherited from PiggybackCSpace | |
| CSpace * | baseSpace |
| Public Attributes inherited from CSpace | |
| std::vector< std::string > | constraintNames |
| std::vector< std::shared_ptr< CSet > > | constraints |
Detailed Description
Converts an CSpace so that it only checks one or a subset of selected constraints.
Member Function Documentation
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inlinevirtual |
If possible, project x onto a nearby feasible configuration and return true. If not, return false.
Reimplemented from PiggybackCSpace.
References CSpace::ProjectFeasible().
The documentation for this class was generated from the following files:
- CSpaceHelpers.h
- CSpaceHelpers.cpp
