A class that encapsulates feaibility checking of a ParabolicRampND. More...
#include <DynamicPath.h>
Public Member Functions | |
bool | Check (const ParabolicRampND &x) |
RampFeasibilityChecker (FeasibilityCheckerBase *feas, Real tol) | |
RampFeasibilityChecker (FeasibilityCheckerBase *feas, DistanceCheckerBase *distance, int maxiters) | |
Public Attributes | |
DistanceCheckerBase * | distance |
FeasibilityCheckerBase * | feas |
int | maxiters |
Real | tol |
A class that encapsulates feaibility checking of a ParabolicRampND.
If given a feasibility checker and a tolerance tol, this performs a piecewise linear discretization that deviates no more than tol from the parabolic ramp along any axis, and then checks for configuration and segment feasibility along that piecewise linear path.
If given a feasibility checker and a distance checker, this performs an exact recursive bisection.
Definition at line 81 of file DynamicPath.h.
ParabolicRamp::RampFeasibilityChecker::RampFeasibilityChecker | ( | FeasibilityCheckerBase * | feas, |
Real | tol | ||
) |
Definition at line 562 of file DynamicPath.cpp.
ParabolicRamp::RampFeasibilityChecker::RampFeasibilityChecker | ( | FeasibilityCheckerBase * | feas, |
DistanceCheckerBase * | distance, | ||
int | maxiters | ||
) |
Definition at line 566 of file DynamicPath.cpp.
Definition at line 570 of file DynamicPath.cpp.
Definition at line 90 of file DynamicPath.h.
Definition at line 88 of file DynamicPath.h.
Definition at line 91 of file DynamicPath.h.
Definition at line 89 of file DynamicPath.h.