BoundaryConstraint Class Reference

Public Member Functions
Construction
	BoundaryConstraint (Robot *const _r, std::unique_ptr< Boundary > &&_b)
	BoundaryConstraint (Robot *const _r, XMLNode &_node)
	BoundaryConstraint (const BoundaryConstraint &_other)
virtual	~BoundaryConstraint ()
virtual std::unique_ptr< Constraint >	Clone () const override
Constraint Interface
virtual const Boundary *	GetBoundary () const override
virtual bool	Satisfied (const Cfg &_c) const override
Constraint Interface
virtual void	SetRobot (Robot *const _r)

Static Public Member Functions
Construction
static std::unique_ptr< Constraint >	Factory (Robot *const _r, XMLNode &_node)

Protected Attributes
Internal State
std::unique_ptr< Boundary >	m_boundary
	The boundary for this constraint.
Internal State
Robot *	m_robot {nullptr}
	The subject of this constraint.

Detailed Description

A robot satisfies this constraint if it passes the 'is inside' boundary check. Various boundary types may be considered.

Constructor & Destructor Documentation

BoundaryConstraint() [1/2]

BoundaryConstraint::BoundaryConstraint ( Robot *const  _r, std::unique_ptr< Boundary > &&  _b  )

explicit

Construct a constraint from a specific boundary.

Parameters

_r	The robot to constrain.
_b	The boundary.

BoundaryConstraint() [2/2]

BoundaryConstraint::BoundaryConstraint ( Robot *const  _r, XMLNode &  _node  )

explicit

Construct a constraint from an XML node.

Parameters

_r	The robot to constrain.
_node	The node to parse.

Member Function Documentation

Clone()

std::unique_ptr< Constraint > BoundaryConstraint::Clone ( ) const

overridevirtual

Copy this constraint.

Returns

A copy of this constraint.

Implements Constraint.

Reimplemented in CSpaceConstraint.

GetBoundary()

const Boundary * BoundaryConstraint::GetBoundary ( ) const

overridevirtual

Get a sampling boundary that describes the subset of CSpace allowed by this constraint.

Note

Many constraints can be described in terms of boundaries, but some cannot (such as constraints with ordering requirements). If the constraint can't be represented as a boundary, this will return a null pointer.

Implements Constraint.

Satisfied()

bool BoundaryConstraint::Satisfied ( const Cfg &  _c ) const

overridevirtual

Determine whether a given configuration of the robot satisfies this constraint.

Parameters

_c	The configuration to check.

Returns

True if _c satisfies this constraint.

Implements Constraint.

Factory()

std::unique_ptr< Constraint > Constraint::Factory ( Robot *const  _r, XMLNode &  _node  )

staticinherited

Construct a constraint of the appropriate type from an XML node.

Parameters

_r	The robot to which the constraint applies.
_node	The XML node to parse.

Returns

A constraint for _r of the type/parameters described by _node.

SetRobot()

void Constraint::SetRobot ( Robot *const  _r )

virtualinherited

Change the subject of this constraint.

Parameters

_r	The new robot to constrain, or null to represent any robot.

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The documentation for this class was generated from the following files:

• BoundaryConstraint.h
• BoundaryConstraint.cpp