Represents upper and lower bound on the elements of a vector. More...
#include <ompl_constraints.h>
Public Member Functions | |
| Bounds () | |
| Bounds (const std::vector< double > &lower, const std::vector< double > &upper) | |
| Eigen::VectorXd | penalty (const Eigen::Ref< const Eigen::VectorXd > &x) const |
| Distance to region inside bounds. More... | |
| Eigen::VectorXd | derivative (const Eigen::Ref< const Eigen::VectorXd > &x) const |
| Derivative of the penalty function ^ | | -1-1-1 0 0 0 +1+1+1 |---------------------—> More... | |
| std::size_t | size () const |
Friends | |
| std::ostream & | operator<< (std::ostream &os, const ompl_interface::Bounds &bounds) |
| Pretty printing of bounds. More... | |
Detailed Description
Represents upper and lower bound on the elements of a vector.
OMPL ConstrainedStateSpace requires a model of the constraints given as: f1(joint_values) = 0 f2(joint_values) = 0 f3(joint_values) = 0 ...
So we use a penalty function to convert bounds to an equality constraint. If you do need equality constraint, you can represent them by setting the upper bound and lower bound almost equal. Or you can use the EqualityPositionConstraint version by setting the name of the constraint to "use_equality_constraints". But the latter will ignore bounds on other dimensions.
Definition at line 67 of file ompl_constraints.h.
Constructor & Destructor Documentation
◆ Bounds() [1/2]
| ompl_interface::Bounds::Bounds | ( | ) |
Definition at line 55 of file ompl_constraints.cpp.
◆ Bounds() [2/2]
| ompl_interface::Bounds::Bounds | ( | const std::vector< double > & | lower, |
| const std::vector< double > & | upper | ||
| ) |
Definition at line 59 of file ompl_constraints.cpp.
Member Function Documentation
◆ derivative()
| Eigen::VectorXd ompl_interface::Bounds::derivative | ( | const Eigen::Ref< const Eigen::VectorXd > & | x | ) | const |
Derivative of the penalty function ^ | | -1-1-1 0 0 0 +1+1+1 |---------------------—>
Definition at line 89 of file ompl_constraints.cpp.
◆ penalty()
| Eigen::VectorXd ompl_interface::Bounds::penalty | ( | const Eigen::Ref< const Eigen::VectorXd > & | x | ) | const |
Distance to region inside bounds.
Distance of a given value outside the bounds, zero inside the bounds. Creates a penalty function that looks like this:
(penalty) ^ | \ / | \ / | _____/ |-------------—> (variable to be constrained)
Definition at line 66 of file ompl_constraints.cpp.
◆ size()
| std::size_t ompl_interface::Bounds::size | ( | ) | const |
Friends And Related Function Documentation
◆ operator<<
|
friend |
Pretty printing of bounds.
Definition at line 117 of file ompl_constraints.cpp.
The documentation for this class was generated from the following files:
- moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/ompl_constraints.h
- moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp
