1 #ifndef CONSTRAINED_INTERPOLATOR_H 2 #define CONSTRAINED_INTERPOLATOR_H 4 #include <KrisLibrary/math/function.h> 5 #include <KrisLibrary/planning/GeneralizedBezierCurve.h> 6 #include <KrisLibrary/optimization/Newton.h> 34 bool Make(
const Config& a,
const Config& b,vector<Config>& path,
bool checkConstraints=
false);
35 virtual void ConstraintValue(
const Config& x,Vector& v);
36 virtual bool Project(Config& x);
39 VectorFieldFunction* constraint;
47 Optimization::NewtonRoot solver;
78 bool Make(
const Config& a,
const Config& b,
79 GeneralizedCubicBezierSpline& path,
80 bool checkConstraints=
false);
81 bool Make(
const Config& a,
const Vector& da,
const Config& b,
const Vector& db,
82 GeneralizedCubicBezierSpline& path,
83 bool checkConstraints=
false);
84 virtual void ConstraintValue(
const Config& x,Vector& v);
85 virtual bool Project(Config& x);
86 virtual bool ProjectVelocity(
const Config& x,Config& v);
89 GeodesicSpace* manifold;
90 VectorFieldFunction* constraint;
98 Optimization::NewtonRoot solver;
106 const vector<Vector>& pts,
107 GeneralizedCubicBezierSpline& path);
116 const vector<Vector>& pts,
117 const Vector& dq0,
const Vector& dq1,
118 GeneralizedCubicBezierSpline& path);
125 const Vector& pt,Real suffixDuration,
126 GeneralizedCubicBezierSpline& path);
Construct a polyline between a and b such that each point is near the constraint C(x)=0.
Definition: ConstrainedInterpolator.h:29
Constructs a piecewise polynomial path between a and b such that each point is near the constraint C(...
Definition: ConstrainedInterpolator.h:73
Config xmax
if set, uses bounds in the newton solver
Definition: ConstrainedInterpolator.h:91
bool AppendInterpolate(SmoothConstrainedInterpolator &interp, const Vector &pt, Real suffixDuration, GeneralizedCubicBezierSpline &path)
VectorFieldFunction * inequalities
if set, uses a nonlinear constraint in the newton solver
Definition: ConstrainedInterpolator.h:92
VectorFieldFunction * inequalities
if set, uses a nonlinear constraint in the newton solver
Definition: ConstrainedInterpolator.h:41
bool MultiSmoothInterpolate(SmoothConstrainedInterpolator &interp, const vector< Vector > &pts, const Vector &dq0, const Vector &dq1, GeneralizedCubicBezierSpline &path)
Definition: ContactDistance.h:6
Config xmax
if set, uses bounds in the newton solver
Definition: ConstrainedInterpolator.h:40