SBLExpand Class Reference

Interface for sampling a configuration in the vicinity of some other configuration. More...

#include <SBLExpand.hpp>

Public Types
typedef rw::core::Ptr< SBLExpand >	Ptr
	Smart pointer type for SBLExpand.
typedef std::pair< rw::math::Q, rw::math::Q >	QBox
	A configuration space in the shape of a box. More...

Public Member Functions
rw::math::Q	expand (const rw::math::Q &q)
	A configuration sampled from the vicinity of q. More...
virtual	~SBLExpand ()
	Destructor.

Static Public Member Functions
static SBLExpand::Ptr	makeUniformBox (const QBox &outer, const QBox &inner)
static SBLExpand::Ptr	makeUniformBox (const QBox &outer, double ratio)
static SBLExpand::Ptr	makeShrinkingUniformBox (rw::core::Ptr< rw::pathplanning::QConstraint > constraint, const QBox &outer, const QBox &inner)
	Sample within a box of decreasing size until a collision free configuration is found. More...
static SBLExpand::Ptr	makeShrinkingUniformBox (rw::core::Ptr< rw::pathplanning::QConstraint > constraint, const QBox &outer, double ratio)
	Sample within a box of shrinking size until a collision free configuration is found. More...
static SBLExpand::Ptr	makeShrinkingUniformJacobianBox (rw::core::Ptr< rw::pathplanning::QConstraint > constraint, rw::core::Ptr< rw::models::Device > device, const rw::kinematics::State &state, rw::core::Ptr< rw::models::JacobianCalculator > jacobian, double angle_max=-1, double disp_max=-1)
	Sample within a box of shrinking size until a collision free configuration is found. More...

Protected Member Functions
	SBLExpand ()
	Constructor.
virtual rw::math::Q	doExpand (const rw::math::Q &q)=0
	Subclass implementation of the expand() method.

Detailed Description

Interface for sampling a configuration in the vicinity of some other configuration.

SBLExpand is a primitive for planners in the SBL family. The primitive takes a configuration q as parameter and returns another configuration somewhere in the vicinity of q.

Different implementations can have different policies with respect to what constraints are satisfied by the configurations returned.

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

• SBLExpand.hpp