CSpaceConstraint Class Reference

Public Member Functions
Construction
	CSpaceConstraint (Robot *const _r, const Cfg &_c)
	CSpaceConstraint (Robot *const _r, XMLNode &_node)
	CSpaceConstraint (Robot *const _r, std::string _pointString, std::string _bbxString)
virtual	~CSpaceConstraint ()
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 c-space boundary constraint, mainly provided as a convenience interface for BoundaryConstraint.

Constructor & Destructor Documentation

CSpaceConstraint() [1/3]

CSpaceConstraint::CSpaceConstraint ( Robot *const  _r, const Cfg &  _c  )

explicit

Construct a constraint from a specific configuration.

Parameters

_r	The robot to constrain.
_c	The single configuration for _r which satisfies this constraint.

CSpaceConstraint() [2/3]

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

explicit

Construct a constraint from an XML node.

Parameters

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

CSpaceConstraint() [3/3]

CSpaceConstraint::CSpaceConstraint ( Robot *const  _r, std::string  _pointString, std::string  _bbxString  )

explicit

Construct a constraint from message strings.

Parameters

_r	The robot to constrain.
_pointString	The string containing point constraint info.
_bbxString	The string containing bounding box constraint info.

Member Function Documentation

Clone()

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

overridevirtual

Copy this constraint.

Returns

A copy of this constraint.

Reimplemented from BoundaryConstraint.

GetBoundary()

const Boundary * BoundaryConstraint::GetBoundary ( ) const

overridevirtualinherited

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

overridevirtualinherited

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:

• CSpaceConstraint.h
• CSpaceConstraint.cpp