RobWorkProject
24.8.23-
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A tuple of (QConstraintPtr, QEdgeConstraintPtr). More...
#include <PlannerConstraint.hpp>
Public Types | |
typedef rw::core::Ptr< PlannerConstraint > | Ptr |
smart pointer type to this class | |
typedef rw::core::Ptr< const PlannerConstraint > | CPtr |
smart pointer type to this const class | |
Public Member Functions | |
PlannerConstraint () | |
Default constructed without constraints initialized. | |
PlannerConstraint (rw::core::Ptr< rw::pathplanning::QConstraint > 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. | |
QConstraint & | getQConstraint () const |
The configuration constraint. | |
QEdgeConstraint & | getQEdgeConstraint () const |
The edge constraint. | |
const rw::core::Ptr< rw::pathplanning::QConstraint > & | getQConstraintPtr () const |
The configuration constraint pointer. | |
const QEdgeConstraint::Ptr & | getQEdgeConstraintPtr () const |
The edge constraint pointer. | |
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.