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Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes | List of all members
ompl::base::ConstraintGoal Class Reference

#include <goals.h>

Inheritance diagram for ompl::base::ConstraintGoal:
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Public Member Functions

 ConstraintGoal (const ConstraintPtr &constraint, SpaceInformationPtr si, double threshold=1e-5)
 
 ~ConstraintGoal () override
 
double distanceGoal (const State *state) const override
 

Protected Types

using Transition = std::pair< Eigen::VectorXd, const State * >
 

Protected Member Functions

bool sample (const GoalLazySamples *gls, State *state)
 
void update (const State *state)
 
Eigen::Ref< Eigen::VectorXd > getVector (State *state) const
 
const Eigen::Ref< const Eigen::VectorXd > getVectorConst (const State *state) const
 

Protected Attributes

const bool isConstrained_
 
const bool isFoliation_
 
const ConstraintPtr constraint_
 
const StateSamplerPtr sampler_
 
std::shared_ptr< NearestNeighbors< Transition > > transverse_
 

Private Member Functions

ConstraintPtr allocateConstraint (const ConstraintPtr &constraint) const
 

Private Attributes

const unsigned int tries_ {5}
 
const unsigned int maxSample_ {100}
 

Detailed Description

Definition at line 104 of file goals.h.

Member Typedef Documentation

◆ Transition

using ompl::base::ConstraintGoal::Transition = std::pair<Eigen::VectorXd, const State *>
protected

Definition at line 124 of file goals.h.

Constructor & Destructor Documentation

◆ ConstraintGoal()

ConstraintGoal::ConstraintGoal ( const ConstraintPtr &  constraint,
SpaceInformationPtr  si,
double  threshold = 1e-5 
)

ConstraintGoal

Definition at line 211 of file goals.cpp.

◆ ~ConstraintGoal()

ConstraintGoal::~ConstraintGoal ( )
override

Definition at line 231 of file goals.cpp.

Member Function Documentation

◆ allocateConstraint()

ConstraintPtr ConstraintGoal::allocateConstraint ( const ConstraintPtr &  constraint) const
private

Definition at line 236 of file goals.cpp.

◆ distanceGoal()

double ConstraintGoal::distanceGoal ( const State *  state) const
override

Definition at line 271 of file goals.cpp.

◆ getVector()

Eigen::Ref< Eigen::VectorXd > ConstraintGoal::getVector ( State *  state) const
protected

Definition at line 260 of file goals.cpp.

◆ getVectorConst()

const Eigen::Ref< const Eigen::VectorXd > ConstraintGoal::getVectorConst ( const State *  state) const
protected

Definition at line 249 of file goals.cpp.

◆ sample()

bool ConstraintGoal::sample ( const GoalLazySamples *  gls,
State *  state 
)
protected

Definition at line 276 of file goals.cpp.

◆ update()

void ConstraintGoal::update ( const State *  state)
protected

Definition at line 294 of file goals.cpp.

Member Data Documentation

◆ constraint_

const ConstraintPtr ompl::base::ConstraintGoal::constraint_
protected

Definition at line 121 of file goals.h.

◆ isConstrained_

const bool ompl::base::ConstraintGoal::isConstrained_
protected

Definition at line 119 of file goals.h.

◆ isFoliation_

const bool ompl::base::ConstraintGoal::isFoliation_
protected

Definition at line 120 of file goals.h.

◆ maxSample_

const unsigned int ompl::base::ConstraintGoal::maxSample_ {100}
private

Definition at line 129 of file goals.h.

◆ sampler_

const StateSamplerPtr ompl::base::ConstraintGoal::sampler_
protected

Definition at line 122 of file goals.h.

◆ transverse_

std::shared_ptr<NearestNeighbors<Transition> > ompl::base::ConstraintGoal::transverse_
protected

Definition at line 125 of file goals.h.

◆ tries_

const unsigned int ompl::base::ConstraintGoal::tries_ {5}
private

Definition at line 128 of file goals.h.

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