Aikido
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aikido::constraint::Projectable Class Referenceabstract

A projectable constraint. More...

#include <aikido/constraint/Projectable.hpp>

Inheritance diagram for aikido::constraint::Projectable:
aikido::constraint::CartesianProductProjectable aikido::constraint::dart::TSR aikido::constraint::NewtonsMethodProjectable aikido::constraint::Satisfied aikido::constraint::uniform::RBoxConstraint< N > aikido::constraint::uniform::SE2BoxConstraint

Public Member Functions

virtual ~Projectable ()=default
 
virtual statespace::ConstStateSpacePtr getStateSpace () const =0
 Gets the StateSpace that this constraint operates on. More...
 
virtual bool project (const statespace::StateSpace::State *_s, statespace::StateSpace::State *_out) const =0
 Projection _s to _out. More...
 
virtual bool project (statespace::StateSpace::State *_s) const
 Performs an in-place projection. More...
 

Detailed Description

A projectable constraint.

Constructor & Destructor Documentation

◆ ~Projectable()

virtual aikido::constraint::Projectable::~Projectable ( )
virtualdefault

Member Function Documentation

◆ getStateSpace()

virtual statespace::ConstStateSpacePtr aikido::constraint::Projectable::getStateSpace ( ) const
pure virtual

Gets the StateSpace that this constraint operates on.

Implemented in aikido::constraint::dart::TSR, aikido::constraint::uniform::RBoxConstraint< N >, aikido::constraint::uniform::SE2BoxConstraint, aikido::constraint::NewtonsMethodProjectable, aikido::constraint::Satisfied, and aikido::constraint::CartesianProductProjectable.

◆ project() [1/2]

virtual bool aikido::constraint::Projectable::project ( const statespace::StateSpace::State *  _s,
statespace::StateSpace::State *  _out 
) const
pure virtual

Projection _s to _out.

Returns false if projection cannot be done.

Parameters
_sstate to be projected.
_outresulting projection.

Implemented in aikido::constraint::uniform::SE2BoxConstraint, aikido::constraint::dart::TSR, aikido::constraint::uniform::RBoxConstraint< N >, aikido::constraint::Satisfied, aikido::constraint::NewtonsMethodProjectable, and aikido::constraint::CartesianProductProjectable.

◆ project() [2/2]

virtual bool aikido::constraint::Projectable::project ( statespace::StateSpace::State *  _s) const
virtual

Performs an in-place projection.

By default, it creates a copy and then calls the two-parameter project.

Parameters
_sstate to be projected and mutated.