ompl::base::Foliation Class Reference

#include <goals.h>

Inheritance diagram for ompl::base::Foliation:

Public Member Functions
	Foliation (const unsigned int ambientDim, const unsigned int coDim, const unsigned int leafDim, double tolerance=magic::CONSTRAINT_PROJECTION_TOLERANCE)
virtual FoliationPtr	copy () const =0
virtual Eigen::VectorXd	getTransversal (const Eigen::Ref< const Eigen::VectorXd > &state) const =0
virtual ConstraintPtr	getLeaf (const Eigen::Ref< const Eigen::VectorXd > &tv) const =0
virtual FoliationPtr	getFrond (const Eigen::Ref< const Eigen::VectorXd > &a, const Eigen::Ref< const Eigen::VectorXd > &b) const =0
unsigned int	getLeafDimension () const
unsigned int	getTransverseDimension () const
void	setLeafDimension (unsigned int p)
void	setTransverseDimension (unsigned int t)

Protected Attributes
unsigned int	p_
	Leaf dimension. More...
unsigned int	t_
	Transverse dimension. More...

Detailed Description

Definition at line 51 of file goals.h.

Constructor & Destructor Documentation

Foliation()

Foliation::Foliation	(	const unsigned int	ambientDim,
		const unsigned int	coDim,
		const unsigned int	leafDim,
		double	tolerance = magic::CONSTRAINT_PROJECTION_TOLERANCE
	)

Foliation

Definition at line 88 of file goals.cpp.

Member Function Documentation

copy()

virtual FoliationPtr ompl::base::Foliation::copy ( ) const

pure virtual

Implemented in se2ez::plan::CircleConstraint, se2ez::plan::PointConstraint, ompl::base::FoliationIntersection, and se2ez::plan::LineConstraint.

getFrond()

virtual FoliationPtr ompl::base::Foliation::getFrond ( const Eigen::Ref< const Eigen::VectorXd > &  a, const Eigen::Ref< const Eigen::VectorXd > &  b  ) const

pure virtual

Implemented in se2ez::plan::CircleConstraint, se2ez::plan::PointConstraint, ompl::base::FoliationIntersection, and se2ez::plan::LineConstraint.

getLeaf()

virtual ConstraintPtr ompl::base::Foliation::getLeaf ( const Eigen::Ref< const Eigen::VectorXd > &  tv ) const

pure virtual

Implemented in se2ez::plan::CircleConstraint, se2ez::plan::PointConstraint, ompl::base::FoliationIntersection, and se2ez::plan::LineConstraint.

getLeafDimension()

unsigned int Foliation::getLeafDimension

(

)

const

Definition at line 95 of file goals.cpp.

getTransversal()

virtual Eigen::VectorXd ompl::base::Foliation::getTransversal ( const Eigen::Ref< const Eigen::VectorXd > &  state ) const

pure virtual

Implemented in se2ez::plan::CircleConstraint, se2ez::plan::PointConstraint, ompl::base::FoliationIntersection, and se2ez::plan::LineConstraint.

getTransverseDimension()

unsigned int Foliation::getTransverseDimension

(

)

const

Definition at line 100 of file goals.cpp.

setLeafDimension()

void Foliation::setLeafDimension

(

unsigned int

p

)

Definition at line 105 of file goals.cpp.

setTransverseDimension()

void Foliation::setTransverseDimension

(

unsigned int

t

)

Definition at line 110 of file goals.cpp.

Member Data Documentation

p_

unsigned int ompl::base::Foliation::p_

protected

Leaf dimension.

Definition at line 72 of file goals.h.

t_

unsigned int ompl::base::Foliation::t_

protected

Transverse dimension.

Definition at line 73 of file goals.h.

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

• /home/zak/code/se2ez_work/include/se2ez/plan/goals.h
• /home/zak/code/se2ez_work/src/plan/goals.cpp