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PlanarManipulatorTSRRTConfig.h
48 PlanarManipTaskSpaceConfig(const PlanarManipulator *manip, const ompl::base::RealVectorBounds &bounds)
78 const PlanarManipulatorStateSpace::StateType *pm_seed = seed->as<PlanarManipulatorStateSpace::StateType>();
86 Eigen::Affine2d end_frame(Eigen::Rotation2Dd(0.0) * Eigen::Translation2d(ts_proj[0], ts_proj[1]));
95 PlanarManipulatorStateSpace::StateType *pm_state = state->as<PlanarManipulatorStateSpace::StateType>();
Definition PlanarManipulator.h:44
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition RandomNumbers.h:58
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition RandomNumbers.h:73
The lower and upper bounds for an Rn space.
Definition RealVectorBounds.h:48
The definition of a state in Rn
Definition RealVectorStateSpace.h:78
Definition TSRRT.h:51