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include
Klampt
Planning
ConfigFixer.h
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#ifndef CONFIG_FIXER_H
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#define CONFIG_FIXER_H
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#include <KrisLibrary/planning/CSpace.h>
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namespace
Klampt
{
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class
ConfigFixer
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{
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public
:
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ConfigFixer
();
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bool
Fix(CSpace* space,
const
Config& q0,Config& q);
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int
maxIters;
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Real d0,dmax;
//radii to sample from: initial, maximum
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Real dRate;
//stop if rate of shrinking towards q decreases past this rate
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};
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}
//namespace Klampt
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#endif
Klampt::ConfigFixer
A class for "fixing" a configuration by sampling a feasible configuration near it.
Definition:
ConfigFixer.h:15
Klampt
Definition:
ContactDistance.h:6
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