A CSpace for just a few dofs of a robot. Slightly faster than using a regular RobotCSpace then picking out subvectors. More...
#include <RobotCSpace.h>
Inheritance diagram for ActiveRobotCSpace:
Public Member Functions | |
| ActiveRobotCSpace (Robot &robot, const ArrayMapping &dofs) | |
| virtual int | NumDimensions () |
| virtual string | VariableName (int i) |
| virtual void | Sample (Config &x) |
| virtual void | Interpolate (const Config &x, const Config &y, Real u, Config &out) |
| virtual Real | Distance (const Config &x, const Config &y) |
| virtual void | Properties (PropertyMap &) const |
| virtual void | InterpolateDeriv (const Config &a, const Config &b, Real u, Vector &dx) |
| virtual void | InterpolateDerivA (const Config &a, const Config &b, Real u, const Vector &da, Vector &dx) |
| virtual void | InterpolateDerivB (const Config &a, const Config &b, Real u, const Vector &db, Vector &dx) |
| virtual void | InterpolateDeriv2 (const Config &a, const Config &b, Real u, Vector &ddx) |
| virtual void | Integrate (const Config &a, const Vector &da, Config &b) |
Public Attributes | |
| Robot & | robot |
| ArrayMapping | dofs |
| Config | xq |
| Config | yq |
| Config | tempq |
| vector< int > | invMap |
| vector< int > | joints |
Detailed Description
A CSpace for just a few dofs of a robot. Slightly faster than using a regular RobotCSpace then picking out subvectors.
The documentation for this class was generated from the following file:
