#include <CSpaceHelpers.h>
Inheritance diagram for GeodesicCSpace:
Additional Inherited Members | |
 Public Member Functions inherited from CSpace | |
| void | AddConstraint (const std::string &name, CSet *constraint) |
| void | AddConstraint (const std::string &name, const std::shared_ptr< CSet > &constraint) |
| void | AddConstraint (const std::string &name, CSet::CPredicate test) |
| void | CopyConstraints (const CSpace *space, const std::string &prefix="") |
| virtual int | NumDimensions () |
| virtual std::string | VariableName (int i) |
| virtual int | NumConstraints () |
| virtual std::string | ConstraintName (int i) |
| virtual std::shared_ptr< CSet > | Constraint (int i) |
| virtual void | Sample (Config &x)=0 |
| virtual void | SampleNeighborhood (const Config &c, Real r, Config &x) |
| virtual bool | IsFeasible (const Config &) |
| virtual bool | IsFeasible (const Config &, int constraint) |
| virtual EdgePlannerPtr | LocalPlanner (const Config &a, const Config &b) |
| virtual EdgePlannerPtr | PathChecker (const Config &a, const Config &b) |
| virtual EdgePlannerPtr | PathChecker (const Config &a, const Config &b, int constraint) |
| virtual Real | Distance (const Config &x, const Config &y) |
| optionally overrideable (default uses euclidean space) | |
| virtual void | Interpolate (const Config &x, const Config &y, Real u, Config &out) |
| virtual void | Midpoint (const Config &x, const Config &y, Config &out) |
| virtual bool | ProjectFeasible (Config &x) |
| virtual Optimization::NonlinearProgram * | FeasibleNumeric () |
| If possible, give the feasible set as a nonlinear program. | |
| virtual Real | ObstacleDistance (const Config &a) |
| for local planners using obstacle distance | |
| virtual void | Properties (PropertyMap &) |
| Returns properties of the space that might be useful for planners. More... | |
| virtual void | CheckConstraints (const Config &, std::vector< bool > &satisfied) |
| Returns a vector indicating which constraints are satisfied. | |
| void | GetFeasibleNames (const Config &q, std::vector< std::string > &names) |
| Gets a list of feasible obstacles for the given configuration. | |
| void | GetInfeasibleNames (const Config &q, std::vector< std::string > &names) |
| Gets a list of infeasible obstacles for the given configuration. | |
| void | PrintInfeasibleNames (const Config &q, std::ostream &out=std::cout, const char *prefix="", const char *suffix="\n") |
| Prints out the list of infeasible obstacles for the given configuration. | |
| Public Member Functions inherited from GeodesicSpace | |
| virtual int | NumDimensions () |
| virtual int | NumIntrinsicDimensions () |
| virtual Real | Distance (const Config &x, const Config &y) |
| virtual void | Interpolate (const Config &x, const Config &y, Real u, Config &out) |
| virtual void | InterpolateDeriv (const Config &a, const Config &b, Real u, Vector &dx) |
| virtual void | InterpolateDerivA (const Config &a, const Config &b, Real u, const Vector &da, Vector &dx) |
| virtual void | InterpolateDerivB (const Config &a, const Config &b, Real u, const Vector &db, Vector &dx) |
| virtual void | InterpolateDeriv2 (const Config &a, const Config &b, Real u, Vector &ddx) |
| virtual void | Integrate (const Config &a, const Vector &da, Config &b) |
| Public Attributes inherited from CSpace | |
| std::vector< std::string > | constraintNames |
| std::vector< std::shared_ptr< CSet > > | constraints |
Detailed Description
A base class for a CSpace that also has geodesic information built in. You will still need to overload Sample() and LocalPlanner/PathChecker().
The documentation for this class was generated from the following file:
