Klamp't  0.9.0
Public Member Functions | Public Attributes | List of all members
Klampt::RobotCSpace Class Reference

Implements a basic robot configuration space with only joint limit constraint testing. More...

#include <RobotCSpace.h>

Inheritance diagram for Klampt::RobotCSpace:
Klampt::SingleRobotCSpace Klampt::ContactCSpace Klampt::StanceCSpace

Public Member Functions

 RobotCSpace (RobotModel &robot)
 
 RobotCSpace (const RobotCSpace &space)
 
virtual int NumDimensions () override
 
virtual string VariableName (int i) override
 
virtual void Sample (Config &x) override
 
virtual void SampleNeighborhood (const Config &c, Real r, Config &out) 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

RobotModelrobot
 
Real norm
 
vector< Real > jointWeights
 
Real floatingRotationWeight
 
vector< Real > jointRadiusScale
 
Real floatingRotationRadiusScale
 
Real unboundedStdDeviation
 

Detailed Description

Implements a basic robot configuration space with only joint limit constraint testing.

Note: floating joint translations are not sampled properly.

Weighted metrics are implemented by filling out the following: jointWeights: weights each deviation of the robot's joints. floatingRotationWeight: additionally weights the rotation components of floating joints.

The 'XRadiusScale' members should be filled out if SampleNeigborhood should use a different metric for sampling.

This class implements the proper geodesic for different robot joint types (e.g. floating joints.)


The documentation for this class was generated from the following file: