ompl::base::FoliationIntersection Class Reference

#include <goals.h>

Inheritance diagram for ompl::base::FoliationIntersection:

Public Member Functions
	FoliationIntersection (const unsigned int ambientDim, std::vector< FoliationPtr > foliations, double tolerance=magic::CONSTRAINT_PROJECTION_TOLERANCE)
FoliationPtr	copy () const override
void	function (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::Ref< Eigen::VectorXd > out) const override
void	jacobian (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::Ref< Eigen::MatrixXd > out) const override
Eigen::VectorXd	getTransversal (const Eigen::Ref< const Eigen::VectorXd > &state) const override
ConstraintPtr	getLeaf (const Eigen::Ref< const Eigen::VectorXd > &tv) const override
FoliationPtr	getFrond (const Eigen::Ref< const Eigen::VectorXd > &a, const Eigen::Ref< const Eigen::VectorXd > &b) const override
Public Member Functions inherited from ompl::base::Foliation
	Foliation (const unsigned int ambientDim, const unsigned int coDim, const unsigned int leafDim, double tolerance=magic::CONSTRAINT_PROJECTION_TOLERANCE)
unsigned int	getLeafDimension () const
unsigned int	getTransverseDimension () const
void	setLeafDimension (unsigned int p)
void	setTransverseDimension (unsigned int t)

Protected Member Functions
void	addConstraint (const FoliationPtr &constraint)

Protected Attributes
std::vector< FoliationPtr >	foliations_
	Constituent constraints. More...
Protected Attributes inherited from ompl::base::Foliation
unsigned int	p_
	Leaf dimension. More...
unsigned int	t_
	Transverse dimension. More...

Detailed Description

Definition at line 77 of file goals.h.

Constructor & Destructor Documentation

FoliationIntersection()

FoliationIntersection::FoliationIntersection	(	const unsigned int	ambientDim,
		std::vector< FoliationPtr >	foliations,
		double	tolerance = magic::CONSTRAINT_PROJECTION_TOLERANCE
	)

Definition at line 115 of file goals.cpp.

Member Function Documentation

addConstraint()

void FoliationIntersection::addConstraint ( const FoliationPtr &  constraint )

protected

Definition at line 198 of file goals.cpp.

copy()

FoliationPtr FoliationIntersection::copy ( ) const

overridevirtual

Implements ompl::base::Foliation.

Definition at line 123 of file goals.cpp.

function()

void FoliationIntersection::function ( const Eigen::Ref< const Eigen::VectorXd > &  x, Eigen::Ref< Eigen::VectorXd >  out  ) const

override

Definition at line 132 of file goals.cpp.

getFrond()

FoliationPtr FoliationIntersection::getFrond ( const Eigen::Ref< const Eigen::VectorXd > &  a, const Eigen::Ref< const Eigen::VectorXd > &  b  ) const

overridevirtual

Implements ompl::base::Foliation.

Definition at line 182 of file goals.cpp.

getLeaf()

ConstraintPtr FoliationIntersection::getLeaf ( const Eigen::Ref< const Eigen::VectorXd > &  tv ) const

overridevirtual

Implements ompl::base::Foliation.

Definition at line 168 of file goals.cpp.

getTransversal()

Eigen::VectorXd FoliationIntersection::getTransversal ( const Eigen::Ref< const Eigen::VectorXd > &  state ) const

overridevirtual

Implements ompl::base::Foliation.

Definition at line 154 of file goals.cpp.

jacobian()

void FoliationIntersection::jacobian ( const Eigen::Ref< const Eigen::VectorXd > &  x, Eigen::Ref< Eigen::MatrixXd >  out  ) const

override

Definition at line 143 of file goals.cpp.

Member Data Documentation

foliations_

std::vector<FoliationPtr> ompl::base::FoliationIntersection::foliations_

protected

Constituent constraints.

Definition at line 100 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