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ConstrainedPlanningKinematicChain.cpp
50 auto &&space = si_->getStateSpace()->as<ob::ConstrainedStateSpace>()->getSpace()->as<KinematicChainSpace>();
51 auto &&s = state->as<ob::ConstrainedStateSpace::StateType>()->getState()->as<KinematicChainSpace::StateType>();
59 KinematicChainConstraint(unsigned int links, double linkLength) : ob::Constraint(links, 1), linkLength_(linkLength)
63 void function(const Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out) const override
92 auto filename = boost::str(boost::format("kinematic_path_%i.dat") % cp.constraint->getAmbientDimension());
109 cp.bench->addExperimentParameter("links", "INTEGER", std::to_string(cp.constraint->getAmbientDimension()));
115bool chainPlanning(bool output, enum SPACE_TYPE space, std::vector<enum PLANNER_TYPE> &planners, unsigned int links,
139 cp.ss->setStateValidityChecker(std::make_shared<ConstrainedKinematicChainValidityChecker>(cp.csi));
148auto output_msg = "Dump found solution path (if one exists) and environment to data files that can be rendered with "
Definition KinematicChain.h:89
A StateSpace that has a Constraint imposed upon it. Underlying space functions are passed to the ambi...
Definition ConstrainedStateSpace.h:134
Definition of a differentiable holonomic constraint on a configuration space. See Constrained Plannin...
Definition Constraint.h:76
The definition of a state in Rn
Definition RealVectorStateSpace.h:78
const StateSpacePtr & getStateSpace() const
Return the instance of the used state space.
Definition SpaceInformation.h:100
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition StateValidityChecker.h:170
void addExperimentParameter(const std::string &name, const std::string &type, const std::string &value)
Add an optional parameter's information to the benchmark output. Useful for aggregating results over ...
Definition Benchmark.h:218
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
Definition ConstrainedPlanningCommon.h:212
A class to store the exit status of Planner::solve()
Definition PlannerStatus.h:49