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ConstrainedPlanningImplicitChain.ChainConstraint Class Reference
Inheritance diagram for ConstrainedPlanningImplicitChain.ChainConstraint:

Classes

class  Wall

Public Member Functions

 __init__ (self, links, obstacles=0, extra=1)
 function (self, x, out)
 jacobian (self, x, out)
 isValid (self, state)
 createSpace (self)
 getStartAndGoalStates (self)
 getProjection (self, space)
 dump (self, outfile)
 addBenchmarkParameters (self, bench)

Public Attributes

 links = links
float length = ChainConstraint.LINK_LENGTH
 width = ChainConstraint.WALL_WIDTH
int radius = links - 2
float jointRadius = ChainConstraint.JOINT_RADIUS
 obstacles = obstacles
 extra = extra
list walls
 cellSizes_ = list2vec([.1, .1])

Static Public Attributes

 WALL_WIDTH
float JOINT_RADIUS = 0.2
float LINK_LENGTH = 1.0

Detailed Description

Definition at line 54 of file ConstrainedPlanningImplicitChain.py.

Constructor & Destructor Documentation

◆ __init__()

ConstrainedPlanningImplicitChain.ChainConstraint.__init__ ( self,
links,
obstacles = 0,
extra = 1 )

Definition at line 102 of file ConstrainedPlanningImplicitChain.py.

Member Function Documentation

◆ addBenchmarkParameters()

ConstrainedPlanningImplicitChain.ChainConstraint.addBenchmarkParameters ( self,
bench )

Definition at line 286 of file ConstrainedPlanningImplicitChain.py.

◆ createSpace()

ConstrainedPlanningImplicitChain.ChainConstraint.createSpace ( self)

Definition at line 189 of file ConstrainedPlanningImplicitChain.py.

◆ dump()

ConstrainedPlanningImplicitChain.ChainConstraint.dump ( self,
outfile )

Definition at line 277 of file ConstrainedPlanningImplicitChain.py.

◆ function()

ConstrainedPlanningImplicitChain.ChainConstraint.function ( self,
x,
out )

Definition at line 116 of file ConstrainedPlanningImplicitChain.py.

◆ getProjection()

ConstrainedPlanningImplicitChain.ChainConstraint.getProjection ( self,
space )

Definition at line 254 of file ConstrainedPlanningImplicitChain.py.

◆ getStartAndGoalStates()

ConstrainedPlanningImplicitChain.ChainConstraint.getStartAndGoalStates ( self)

Definition at line 206 of file ConstrainedPlanningImplicitChain.py.

◆ isValid()

ConstrainedPlanningImplicitChain.ChainConstraint.isValid ( self,
state )

Definition at line 166 of file ConstrainedPlanningImplicitChain.py.

◆ jacobian()

ConstrainedPlanningImplicitChain.ChainConstraint.jacobian ( self,
x,
out )

Definition at line 135 of file ConstrainedPlanningImplicitChain.py.

Member Data Documentation

◆ cellSizes_

ConstrainedPlanningImplicitChain.ChainConstraint.cellSizes_ = list2vec([.1, .1])

Definition at line 268 of file ConstrainedPlanningImplicitChain.py.

◆ extra

ConstrainedPlanningImplicitChain.ChainConstraint.extra = extra

Definition at line 110 of file ConstrainedPlanningImplicitChain.py.

◆ JOINT_RADIUS

float ConstrainedPlanningImplicitChain.ChainConstraint.JOINT_RADIUS = 0.2
static

Definition at line 89 of file ConstrainedPlanningImplicitChain.py.

◆ jointRadius

ConstrainedPlanningImplicitChain.ChainConstraint.jointRadius = ChainConstraint.JOINT_RADIUS

Definition at line 108 of file ConstrainedPlanningImplicitChain.py.

◆ length

ConstrainedPlanningImplicitChain.ChainConstraint.length = ChainConstraint.LINK_LENGTH

Definition at line 105 of file ConstrainedPlanningImplicitChain.py.

◆ LINK_LENGTH

float ConstrainedPlanningImplicitChain.ChainConstraint.LINK_LENGTH = 1.0
static

Definition at line 90 of file ConstrainedPlanningImplicitChain.py.

◆ links

ConstrainedPlanningImplicitChain.ChainConstraint.links = links

Definition at line 104 of file ConstrainedPlanningImplicitChain.py.

◆ obstacles

ConstrainedPlanningImplicitChain.ChainConstraint.obstacles = obstacles

Definition at line 109 of file ConstrainedPlanningImplicitChain.py.

◆ radius

ConstrainedPlanningImplicitChain.ChainConstraint.radius = links - 2

Definition at line 107 of file ConstrainedPlanningImplicitChain.py.

◆ WALL_WIDTH

ConstrainedPlanningImplicitChain.ChainConstraint.WALL_WIDTH
static

Definition at line 88 of file ConstrainedPlanningImplicitChain.py.

◆ walls

list ConstrainedPlanningImplicitChain.ChainConstraint.walls
Initial value:
= [ChainConstraint.Wall(-self.radius + i * step, self.radius / 8.,
self.width, self.jointRadius, i % 2)
for i in range(obstacles)]

Definition at line 112 of file ConstrainedPlanningImplicitChain.py.

◆ width

ConstrainedPlanningImplicitChain.ChainConstraint.width = ChainConstraint.WALL_WIDTH

Definition at line 106 of file ConstrainedPlanningImplicitChain.py.


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