ConfigurationSpace.h
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00001 // -*- mode: c++; indent-tabs-mode: nil; c-basic-offset: 4; tab-width: 4; -*-
00002 #ifndef __CONFIGURATION_SPACE_H__
00003 #define __CONFIGURATION_SPACE_H__
00004 
00005 #include "exportdef.h"
00006 #include <vector>
00007 #include <iostream>
00008 
00009 namespace PathEngine {
00010     class Configuration;
00011 
00012     class HRPPLANNER_API ConfigurationSpace
00013     {
00014     public:
00018         ConfigurationSpace(unsigned int i_size);
00019 
00024         bool isValid(const Configuration& cfg) const;
00025 
00031         double &weight(unsigned int i_rank);
00032         const double weight(unsigned int i_rank) const;
00033 
00040         void bounds(unsigned int i_rank, double min, double max);
00041 
00047         double& ubound(unsigned int i_rank);
00048 
00054         double& lbound(unsigned int i_rank);
00055 
00061         void unboundedRotation(unsigned int i_rank, bool i_flag);
00062 
00068         bool unboundedRotation(unsigned int i_rank);
00069 
00074         Configuration random();
00075 
00080         unsigned int size();
00081 
00082     private:    
00083         unsigned int m_size;
00084         std::vector<double> m_ubounds;
00085         std::vector<double> m_lbounds;
00086         std::vector<double> m_weights;
00087         std::vector<bool> m_isUnboundedRotation;
00088     };
00089 };
00090 
00091 
00092 #endif


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:53