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

Detailed Description

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.