CSpaceConstraint Class Reference

#include <CSpaceConstraint.h>

Inheritance diagram for CSpaceConstraint:

Collaboration diagram for CSpaceConstraint:

Public Member Functions
Construction
	CSpaceConstraint (Robot *const _r, const Cfg &_c)
	CSpaceConstraint (Robot *const _r, XMLNode &_node, Environment *_env=nullptr)
	CSpaceConstraint (Robot *const _r, std::string _pointString, std::string _bbxString)
virtual	~CSpaceConstraint ()
virtual std::unique_ptr< Constraint >	Clone () const override
Public Member Functions inherited from BoundaryConstraint
	BoundaryConstraint (Robot *const _r, std::unique_ptr< Boundary > &&_b)
	BoundaryConstraint (Robot *const _r, XMLNode &_node)
	BoundaryConstraint (const BoundaryConstraint &_other)
virtual	~BoundaryConstraint ()
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 ()

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

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, Environment *  _env = nullptr  )

explicit

Construct a constraint from an XML node.

Parameters

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

Todo:

Verify that this works with constraints of lower dimension than the robot's cspace (for partial constraint), or decide that we will not support this and throw an error if requested.

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.

~CSpaceConstraint()

CSpaceConstraint::~CSpaceConstraint ( )

virtualdefault

Member Function Documentation

Clone()

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

overridevirtual

Copy this constraint.

Returns

A copy of this constraint.

Reimplemented from BoundaryConstraint.

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