1 #ifndef ROBOTICS_PERTURBATION_CSPACE_H 2 #define ROBOTICS_PERTURBATION_CSPACE_H 12 virtual void Sample(
Config& q);
14 virtual bool IsFeasible(
const Config& q,
int obstacle);
15 virtual EdgePlannerPtr LocalPlanner(
const Config& a,
const Config& b,
int obstacle);
16 virtual EdgePlannerPtr PathChecker(
const Config& a,
const Config& b,
int obstacle);
17 virtual int NumObstacles();
18 virtual std::string ObstacleName(
int obstacle);
19 virtual Real ObstacleDistance(
const Config& a,
int obstacle);
23 std::vector<Vector> perturbations;
Vector Config
an alias for Vector
Definition: RobotKinematics3D.h:14
Motion planning configuration space base class. The configuration space implements an interpolation s...
Definition: CSpace.h:39
Definition: PerturbationCSpace.h:7
A simple map from keys to values.
Definition: PropertyMap.h:27