Struct Robot
Defined in File robot.hpp
Nested Relationships
Nested Types
Struct Documentation
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struct Robot
Public Functions
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auto set_random_valid_configuration(std::vector<double> &config) const -> void
Sets a variable vector to a random configuration.
Here, “valid” denotes that the joint values are with their specified limits.
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auto is_valid_configuration(std::vector<double> const &config) const -> bool
Check is a configuration is valid.
Public Static Functions
Create new Robot from a RobotModel.
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struct Variable
Public Functions
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auto generate_valid_value(double init_val = 0.0) const -> double
Generates a valid variable value given an optional initial value (for unbounded joints).
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auto is_valid(double val) const -> bool
Returns true if a value is valid given the variable bounds.
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auto clamp_to_limits(double val) const -> double
Clamps a configuration to joint limits.
Public Members
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double min
Min, max, and middle position values of the variable.
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double max
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double mid
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bool bounded
Whether the variable’s position is bounded.
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double half_span
The half-span (min - max) / 2.0 of the variable, or a default value if unbounded.
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double max_velocity_rcp
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double minimal_displacement_factor
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auto generate_valid_value(double init_val = 0.0) const -> double
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auto set_random_valid_configuration(std::vector<double> &config) const -> void