Just like a ConstrainedInterpolator but only projects the active DOFs. Much faster for high-DOF system with sparse constraints. More...
#include <RobotConstrainedInterpolator.h>
Inheritance diagram for Klampt::RobotConstrainedInterpolator:
Public Member Functions | |
| RobotConstrainedInterpolator (RobotModel &robot, const vector< IKGoal > &goals) | |
| virtual void | ConstraintValue (const Config &x, Vector &v) override |
| virtual bool | Project (Config &x) override |
 Public Member Functions inherited from Klampt::ConstrainedInterpolator | |
| ConstrainedInterpolator (CSpace *space, VectorFieldFunction *constraint) | |
| bool | Make (const Config &a, const Config &b, vector< Config > &path, bool checkConstraints=false) |
Public Attributes | |
| RobotCSpace | space |
| RobotIKFunction | f |
| Public Attributes inherited from Klampt::ConstrainedInterpolator | |
| 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 |
Detailed Description
Just like a ConstrainedInterpolator but only projects the active DOFs. Much faster for high-DOF system with sparse constraints.
The documentation for this class was generated from the following file:
