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Constraint.h
258 ConstraintIntersection(const unsigned int ambientDim, std::initializer_list<ConstraintPtr> constraints)
265 void function(const Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out) const override
Definition of a constraint composed of multiple constraints that all must be satisfied simultaneously...
Definition Constraint.h:245
ConstraintIntersection(const unsigned int ambientDim, std::initializer_list< ConstraintPtr > constraints)
Constructor. If constraints is empty assume it will be filled later.
Definition Constraint.h:258
ConstraintIntersection(const unsigned int ambientDim, std::vector< ConstraintPtr > constraints)
Constructor. If constraints is empty assume it will be filled later.
Definition Constraint.h:249
Wrapper around ompl::base::Constraint to use as an optimization objective.
Definition Constraint.h:303
Cost stateCost(const State *s) const override
Evaluate a cost map defined on the state space at a state s. Cost map is defined as the distance from...
Definition Constraint.h:313
ConstraintObjective(ConstraintPtr constraint, SpaceInformationPtr si)
Constructor.
Definition Constraint.h:306
A shared pointer wrapper for ompl::base::Constraint.
Definition of a differentiable holonomic constraint on a configuration space. See Constrained Plannin...
Definition Constraint.h:76
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
This namespace includes magic constants used in various places in OMPL.
Definition Constraint.h:52
static const double CONSTRAINT_PROJECTION_TOLERANCE
Default projection tolerance of a constraint unless otherwise specified.
Definition Constraint.h:55
static const unsigned int CONSTRAINT_PROJECTION_MAX_ITERATIONS
Maximum number of iterations in projection routine until giving up.
Definition Constraint.h:59
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66
STL namespace.