Klamp't
0.9.0

Construct a polyline between a and b such that each point is near the constraint C(x)=0. More...
#include <ConstrainedInterpolator.h>
Public Attributes  
CSpace *  space 
VectorFieldFunction *  constraint 
Config  xmin 
Config  xmax 
if set, uses bounds in the newton solver  
VectorFieldFunction *  inequalities 
if set, uses a nonlinear constraint in the newton solver  
int  maxNewtonIters 
Real  ftol 
Real  xtol 
Real  maxGrowth 
Optimization::NewtonRoot  solver 
Construct a polyline between a and b such that each point is near the constraint C(x)=0.
The method uses a recursive bisection technique, where the midpoint of each segment is projected to the constraint until termination. If checkConstraints is true, the feasibility of each projected point is checked.
The projection uses a NewtonRaphson solver, capped at maxNewtonIters iterations. It ensures that each milestone satisfies C(x[k]) <= ftol, and d(x[k],x[k+1])<=xtol.
maxGrowth defines the maximum extra distance that the path through a projected configuration can add to the total length of the path. That is, when going from x1 to x2, the projected midpoint xm is checked so that d(x1,xm) + d(xm,x2) <= (1+maxGrowth)d(x1,x2). To ensure convergence this parameter should be < 1 (default 0.9).