#include <EdgePlanner.h>
Inheritance diagram for BisectionEpsilonEdgePlanner:
Classes | |
| struct | Segment |
Public Member Functions | |
| BisectionEpsilonEdgePlanner (CSpace *space, const Config &a, const Config &b, Real epsilon) | |
| virtual bool | IsVisible () |
| virtual void | Eval (Real u, Config &x) const |
| virtual Real | Length () const |
| virtual const Config & | Start () const |
| virtual const Config & | End () const |
| virtual CSpace * | Space () const |
| virtual EdgePlannerPtr | Copy () const |
| virtual EdgePlannerPtr | ReverseCopy () const |
| virtual bool | IsIncremental () const |
| virtual Real | Priority () const |
| virtual bool | Plan () |
| virtual bool | Done () const |
| virtual bool | Failed () const |
| bool | Plan (Config *&pre, Config *&post) |
| const std::list< Config > & | GetPath () const |
| const Config & | InfeasibleConfig () const |
 Public Member Functions inherited from Interpolator | |
| virtual Real | ParamStart () const |
| virtual Real | ParamEnd () const |
Protected Member Functions | |
| BisectionEpsilonEdgePlanner (CSpace *space, Real epsilon) | |
Protected Attributes | |
| CSpace * | space |
| std::list< Config > | path |
| Real | epsilon |
| std::priority_queue< Segment, std::vector< Segment > > | q |
| Config | x |
Detailed Description
Similar to EpsilonEdgeChecker, but keeps the bisected configs, and recalculates distances for every subdivision.
Used in constrained configuration spaces where CSpace.Midpoint() doesn't necessarily return a configuration whose distance is half of the endpoints. An example is recursive projection on a manifold.
The documentation for this class was generated from the following files:
- EdgePlanner.h
- EdgePlanner.cpp
