RobWorkProject  24.5.15-
Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | List of all members
SBLExpand Class Referenceabstract

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

#include <SBLExpand.hpp>

Public Types

typedef rw::core::Ptr< SBLExpandPtr
 Smart pointer type for SBLExpand.
 
typedef std::pair< rw::math::Q, rw::math::QQBox
 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.


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