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Public Types | Public Member Functions | Static Public Member Functions | List of all members
PlannerConstraint Class Reference

A tuple of (QConstraintPtr, QEdgeConstraintPtr). More...

#include <PlannerConstraint.hpp>

Public Types

typedef rw::common::Ptr< PlannerConstraintPtr
 smart pointer type to this class
 
typedef rw::common::Ptr< const PlannerConstraintCPtr
 smart pointer type to this const class
 

Public Member Functions

 PlannerConstraint ()
 Default constructed without constraints initialized.
 
 PlannerConstraint (QConstraint::Ptr constraint, QEdgeConstraint::Ptr edge)
 A (QConstraintPtr, QEdgeConstraintPtr) tuple. More...
 
bool inCollision (const rw::math::Q &q)
 Forwards call to the QConstraint wrapped by the PlannerConstraint.
 
bool inCollision (const rw::math::Q &q1, const rw::math::Q &q2)
 Forwards call to the QEdgeConstraint wrapped by the PlannerConstraint.
 
QConstraintgetQConstraint () const
 The configuration constraint.
 
QEdgeConstraintgetQEdgeConstraint () const
 The edge constraint.
 
const QConstraint::PtrgetQConstraintPtr () const
 The configuration constraint pointer.
 
const QEdgeConstraint::PtrgetQEdgeConstraintPtr () const
 The edge constraint pointer.
 

Static Public Member Functions

static PlannerConstraint make (QConstraint::Ptr constraint, QEdgeConstraint::Ptr edge)
 A (QConstraintPtr, QEdgeConstraintPtr) tuple. More...
 
static PlannerConstraint make (rw::common::Ptr< rw::proximity::CollisionDetector > detector, rw::common::Ptr< const rw::models::Device > device, const rw::kinematics::State &state)
 Planner constraint for a collision detector. More...
 
static PlannerConstraint make (rw::common::Ptr< rw::proximity::CollisionStrategy > strategy, rw::common::Ptr< rw::models::WorkCell > workcell, rw::common::Ptr< const rw::models::Device > device, const rw::kinematics::State &state)
 Planner constraint for a collision strategy. More...
 
static PlannerConstraint make (rw::common::Ptr< rw::proximity::CollisionStrategy > strategy, const rw::proximity::CollisionSetup &setup, rw::common::Ptr< rw::models::WorkCell > workcell, rw::common::Ptr< const rw::models::Device > device, const rw::kinematics::State &state)
 Planner constraint for a collision strategy and collision setup. More...
 

Detailed Description

A tuple of (QConstraintPtr, QEdgeConstraintPtr).

A planner constraint is a small copyable object containing pointers to a configuration constraint and an edge constraint. Sampling based path planners and path optimizers typically use a PlannerConstraint object for the collision checking for the paths.

A number of make() utility constructors are provided for applications where defaults for configuration and edge constraints can be used.

Constructor & Destructor Documentation

◆ PlannerConstraint()

A (QConstraintPtr, QEdgeConstraintPtr) tuple.

The constraints must be non-null.

Member Function Documentation

◆ make() [1/4]

static PlannerConstraint make ( QConstraint::Ptr  constraint,
QEdgeConstraint::Ptr  edge 
)
static

A (QConstraintPtr, QEdgeConstraintPtr) tuple.

This is equivalent to the standard constructor.

◆ make() [2/4]

static PlannerConstraint make ( rw::common::Ptr< rw::proximity::CollisionDetector detector,
rw::common::Ptr< const rw::models::Device device,
const rw::kinematics::State state 
)
static

Planner constraint for a collision detector.

Path are checked discretely for a default device dependent resolution.

◆ make() [3/4]

Planner constraint for a collision strategy.

Path are checked discretely for a default device dependent resolution.

The default collision setup of the workcell is used.

◆ make() [4/4]

Planner constraint for a collision strategy and collision setup.

Path are checked discretely for a default device dependent resolution.


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