Class ConstraintIntersection

Defined in File Constraint.h

Inheritance Relationships

Base Type

public ompl::base::Constraint (Class Constraint)

Class Documentation

class ConstraintIntersection : public ompl::base::Constraint 

Definition of a constraint composed of multiple constraints that all must be satisfied simultaneously. This class stacks the constraint functions together.

Public Functions

inline ConstraintIntersection(const unsigned int ambientDim, std::vector<ConstraintPtr> constraints): Constructor. If constraints is empty assume it will be filled later.

inline ConstraintIntersection(const unsigned int ambientDim, std::initializer_list<ConstraintPtr> constraints): Constructor. If constraints is empty assume it will be filled later.

inline void function(const Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out) const override

inline void jacobian(const Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::MatrixXd> out) const override

Protected Functions

inline void addConstraint(const ConstraintPtr &constraint)

Protected Attributes

std::vector<ConstraintPtr> constraints_: Constituent constraints.