klampt.plan.cspaceutils module¶
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class
klampt.plan.cspaceutils.
CompositeCSpace
(spaces)[source]¶ Bases:
klampt.plan.cspace.CSpace
A cartesian product of multiple spaces, given as a list upon construction. The feasible method can be overloaded to include interaction tests.
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class
klampt.plan.cspaceutils.
EmbeddedCSpace
(ambientspace, subset, xinit=None)[source]¶ Bases:
klampt.plan.cspace.CSpace
A subspace of an ambient space, with the active DOFs given by a list of DOF indices of that ambient space.
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mapping
¶ the list of active indices into the ambient configuration space
Type: list
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xinit
¶ the initial configuration in the ambient space (by default, 0 vector)
Type: list, optional
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