A subset of a CSpace, which establishes a constraint for a configuration must meet. Mathematically, this is a set S which imposes the constraint [q in S]. More...
#include <CSet.h>
Public Types | |
| typedef bool(* | CPredicate) (const Config &) |
Public Member Functions | |
| CSet (CPredicate f) | |
| virtual int | NumDimensions () const |
| Returns the number of dimensions this accepts (-1) for all dimensions. | |
| virtual bool | Contains (const Config &x) |
| Returns true if this constraint is satisfied at configuration x. | |
| virtual bool | Project (Config &x) |
| virtual bool | IsSampleable () const |
| If true, the Sample() function is implemented. | |
| virtual void | Sample (Config &x) |
| If IsSampleable is true, draws a config at random from the set. | |
| virtual Optimization::NonlinearProgram * | Numeric () |
| virtual bool | IsConvex () const |
| If true, the feasible set is convex with respect to the CSpace's interpolation function. | |
| virtual Real | ObstacleDistance (const Config &x) |
Public Attributes | |
| CPredicate | test |
Detailed Description
A subset of a CSpace, which establishes a constraint for a configuration must meet. Mathematically, this is a set S which imposes the constraint [q in S].
You can either create a subclass of CSet for greatest functionality, or construct a CSet with a function pointer that returns whether a Config is in or out.
Member Function Documentation
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inlinevirtual |
If possible, give the set as a feasible solution to the nonlinear program g(x) <= 0, h(x) = 0.
Reimplemented in CSpaceConstraintSet, IntersectionSet, FiniteSet, SubspaceSet, NeighborhoodSet, AxisRangeSet, and BoxSet.
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inlinevirtual |
If overloaded, return the CSpace signed distance from x to the set boundary. Positive means x is in the set, 0 means boundary, negative means x is out of the set.
Referenced by IntersectionSet::IsConvex().
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inlinevirtual |
If possible, project x onto a nearby configuration in the set, and return true. If not, return false.
Referenced by UnionSet::NumDimensions(), and CSpace::ProjectFeasible().
The documentation for this class was generated from the following files:
- CSet.h
- CSpace.cpp
