Constraint Class Reference

#include <Constraint.h>

Inheritance diagram for Constraint:

Collaboration diagram for Constraint:

Public Member Functions
Constraint Interface
virtual void	SetRobot (Robot *const _r)
virtual const Boundary *	GetBoundary () const =0
virtual bool	Satisfied (const Cfg &_c) const =0

Protected Attributes
Internal State
Robot *	m_robot {nullptr}
	The subject of this constraint. More...

Construction
	Constraint (Robot *const _r)
virtual	~Constraint ()
virtual std::unique_ptr< Constraint >	Clone () const =0
static std::unique_ptr< Constraint >	Factory (Robot *const _r, XMLNode &_node, Environment *_env=nullptr)

Detailed Description

An abstract base class representing the required interface for a constraint on the state of a robot. The Constraint interface requires plain jane Cfg's to ensure that they are usable by reactive agents.

Constraints may apply to specific robots, or they may be more general criterion on any robot. In the later case, the robot pointer for the constraint will be null.

Constructor & Destructor Documentation

Constraint()

Constraint::Constraint ( Robot *const  _r )

explicit

Create a constraint for a robot.

Parameters

_r	The robot to constrain.

~Constraint()

Constraint::~Constraint ( )

virtualdefault

Member Function Documentation

Clone()

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

pure virtual

Copy this constraint.

Returns

A copy of this constraint.

Implemented in CSpaceConstraint, and BoundaryConstraint.

Factory()

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

static

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.

GetBoundary()

virtual const Boundary* Constraint::GetBoundary ( ) const

pure virtual

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.

Implemented in BoundaryConstraint.

Satisfied()

virtual bool Constraint::Satisfied ( const Cfg &  _c ) const

pure virtual

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

Parameters

_c	The configuration to check.

Returns

True if _c satisfies this constraint.

Implemented in BoundaryConstraint.

SetRobot()

void Constraint::SetRobot ( Robot *const  _r )

virtual

Change the subject of this constraint.

Parameters

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

Field Documentation

m_robot

Robot* Constraint::m_robot {nullptr}

protected

The subject of 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/Constraint.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/Constraints/Constraint.cpp