KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
CSpaceConstraintSet Class Reference
Inheritance diagram for CSpaceConstraintSet:
CSet

Public Member Functions

 CSpaceConstraintSet (CSpace *_space, int _constraint)
 
virtual int NumDimensions () const
 Returns the number of dimensions this accepts (-1) for all dimensions.
 
virtual bool Contains (const Config &x)
 
virtual bool Project (Config &x)
 
virtual bool IsSampleable () const
 If true, the Sample() function is implemented.
 
virtual void Sample (Config &x)
 
virtual Optimization::NonlinearProgramNumeric ()
 
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 Member Functions inherited from CSet
 CSet (CPredicate f)
 
virtual bool Contains (const Config &x)
 Returns true if this constraint is satisfied at configuration x.
 
virtual bool Project (Config &x)
 
virtual void Sample (Config &x)
 If IsSampleable is true, draws a config at random from the set.
 
virtual Real ObstacleDistance (const Config &x)
 

Public Attributes

CSpacespace
 
int constraint
 
- Public Attributes inherited from CSet
CPredicate test
 

Additional Inherited Members

- Public Types inherited from CSet
typedef bool(* CPredicate) (const Config &)
 

Member Function Documentation

virtual Optimization::NonlinearProgram* CSpaceConstraintSet::Numeric ( )
inlinevirtual

If possible, give the set as a feasible solution to the nonlinear program g(x) <= 0, h(x) = 0.

Reimplemented from CSet.


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