Klamp't
0.9.0
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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>
Public Member Functions | |
ActiveRobotCSpace (RobotModel &robot, const ArrayMapping &dofs) | |
virtual int | NumDimensions () override |
virtual string | VariableName (int i) override |
virtual void | Sample (Config &x) override |
virtual void | Interpolate (const Config &x, const Config &y, Real u, Config &out) override |
virtual Real | Distance (const Config &x, const Config &y) override |
virtual void | Properties (PropertyMap &) override |
virtual void | InterpolateDeriv (const Config &a, const Config &b, Real u, Vector &dx) override |
virtual void | InterpolateDerivA (const Config &a, const Config &b, Real u, const Vector &da, Vector &dx) override |
virtual void | InterpolateDerivB (const Config &a, const Config &b, Real u, const Vector &db, Vector &dx) override |
virtual void | InterpolateDeriv2 (const Config &a, const Config &b, Real u, Vector &ddx) override |
virtual void | Integrate (const Config &a, const Vector &da, Config &b) override |
Public Attributes | |
RobotModel & | robot |
ArrayMapping | dofs |
Config | xq |
Config | yq |
Config | tempq |
vector< int > | invMap |
vector< int > | joints |
A CSpace for just a few dofs of a robot. Slightly faster than using a regular RobotCSpace then picking out subvectors.