ConfigurationSpace.h
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1 // -*- mode: c++; indent-tabs-mode: nil; c-basic-offset: 4; tab-width: 4; -*-
2 #ifndef __CONFIGURATION_SPACE_H__
3 #define __CONFIGURATION_SPACE_H__
4 
5 #include "exportdef.h"
6 #include <vector>
7 #include <iostream>
8 
9 namespace PathEngine {
10  class Configuration;
11 
13  {
14  public:
18  ConfigurationSpace(unsigned int i_size);
19 
24  bool isValid(const Configuration& cfg) const;
25 
31  double &weight(unsigned int i_rank);
32  const double weight(unsigned int i_rank) const;
33 
40  void bounds(unsigned int i_rank, double min, double max);
41 
47  double& ubound(unsigned int i_rank);
48 
54  double& lbound(unsigned int i_rank);
55 
61  void unboundedRotation(unsigned int i_rank, bool i_flag);
62 
68  bool unboundedRotation(unsigned int i_rank);
69 
74  Configuration random();
75 
80  unsigned int size();
81 
82  private:
83  unsigned int m_size;
84  std::vector<double> m_ubounds;
85  std::vector<double> m_lbounds;
86  std::vector<double> m_weights;
87  std::vector<bool> m_isUnboundedRotation;
88  };
89 };
90 
91 
92 #endif
std::vector< double > m_lbounds
std::vector< double > m_ubounds
static int min(int a, int b)
png_uint_32 size
Definition: png.h:1521
std::vector< bool > m_isUnboundedRotation
std::vector< double > m_weights
#define HRPPLANNER_API
Definition: exportdef.h:22
static int max(int a, int b)


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat Apr 13 2019 02:14:20