SBLPlannerConstraint Class Reference

A SBL planner constraint. More...

#include <SBLOptions.hpp>

Public Member Functions
	SBLPlannerConstraint (rw::pathplanning::QConstraint::Ptr qconstraint, rw::pathplanning::QEdgeConstraintIncremental::Ptr edgeconstraint)
	Constructor for a planner constrinct. More...
const rw::pathplanning::QConstraint &	getQConstraint () const
	Get the part that checks for valid configurations. More...
const rw::pathplanning::QEdgeConstraintIncremental &	getEdgeConstraint () const
	Get the part that checks edges in-between valid configurations. More...

Detailed Description

A SBL planner constraint.

Constructor & Destructor Documentation

SBLPlannerConstraint()

SBLPlannerConstraint ( rw::pathplanning::QConstraint::Ptr  qconstraint, rw::pathplanning::QEdgeConstraintIncremental::Ptr  edgeconstraint  )

inline

Constructor for a planner constrinct.

Parameters

qconstraint	[in] a constraint giving the valid (collision free) configurations.
edgeconstraint	[in] a constraint for checking the edges in-between valid configurations.

Member Function Documentation

getEdgeConstraint()

const rw::pathplanning::QEdgeConstraintIncremental& getEdgeConstraint ( ) const

inline

Get the part that checks edges in-between valid configurations.

Returns

a reference to the edge constraint.

getQConstraint()

const rw::pathplanning::QConstraint& getQConstraint ( ) const

inline

Get the part that checks for valid configurations.

Returns

a reference to the constraint.

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

• SBLOptions.hpp