Klamp't
0.9.0
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A class for "fixing" a configuration by sampling a feasible configuration near it. More...
#include <ConfigFixer.h>
Public Member Functions | |
bool | Fix (CSpace *space, const Config &q0, Config &q) |
Public Attributes | |
int | maxIters |
Real | d0 |
Real | dmax |
Real | dRate |
A class for "fixing" a configuration by sampling a feasible configuration near it.
Will first find a feasible config by growing radii for maxIters until hitting dmax. If one is found, then the distance and radii will be shrunk by sampling and bisecting.