PlannerConstraint Class Reference

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.

Static Public Member Functions
static PlannerConstraint	make (rw::core::Ptr< rw::pathplanning::QConstraint > constraint, QEdgeConstraint::Ptr edge)
	A (QConstraintPtr, QEdgeConstraintPtr) tuple. More...
static PlannerConstraint	make (rw::core::Ptr< rw::proximity::CollisionDetector > detector, rw::core::Ptr< const rw::models::Device > device, const rw::kinematics::State &state)
	Planner constraint for a collision detector. More...
static PlannerConstraint	make (rw::core::Ptr< rw::proximity::CollisionStrategy > strategy, rw::core::Ptr< rw::models::WorkCell > workcell, rw::core::Ptr< const rw::models::Device > device, const rw::kinematics::State &state)
	Planner constraint for a collision strategy. More...
static PlannerConstraint	make (rw::core::Ptr< rw::proximity::CollisionStrategy > strategy, const rw::proximity::CollisionSetup &setup, rw::core::Ptr< rw::models::WorkCell > workcell, rw::core::Ptr< const rw::models::Device > device, const rw::kinematics::State &state)
	Planner constraint for a collision strategy and collision setup. More...

Detailed Description

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.

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

• PlannerConstraint.hpp