BoundaryConstraint Class Reference

#include <BoundaryConstraint.h>

Inheritance diagram for BoundaryConstraint:

Collaboration diagram for BoundaryConstraint:

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
Public Member Functions inherited from Constraint
virtual void	SetRobot (Robot *const _r)
	Constraint (Robot *const _r)
virtual	~Constraint ()

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

Additional Inherited Members
Static Public Member Functions inherited from Constraint
static std::unique_ptr< Constraint >	Factory (Robot *const _r, XMLNode &_node, Environment *_env=nullptr)

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() [1/3]

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() [2/3]

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.

BoundaryConstraint() [3/3]

BoundaryConstraint::BoundaryConstraint

(

const BoundaryConstraint &

_other

)

~BoundaryConstraint()

BoundaryConstraint::~BoundaryConstraint ( )

virtualdefault

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.

Field Documentation

m_boundary

std::unique_ptr<Boundary> BoundaryConstraint::m_boundary

protected

The boundary for this constraint.

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/Constraints/BoundaryConstraint.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/Constraints/BoundaryConstraint.cpp