Class FeasibilityBase¶
- Defined in File feasibility_base.h
Inheritance Relationships¶
Derived Types¶
public mav_trajectory_generation::FeasibilityAnalytic(Class FeasibilityAnalytic)public mav_trajectory_generation::FeasibilityRecursive(Class FeasibilityRecursive)public mav_trajectory_generation::FeasibilitySampling(Class FeasibilitySampling)
Class Documentation¶
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class
FeasibilityBase¶ A base class for different implementations for dynamic and position feasibility checks.
Subclassed by mav_trajectory_generation::FeasibilityAnalytic, mav_trajectory_generation::FeasibilityRecursive, mav_trajectory_generation::FeasibilitySampling
Public Functions
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FeasibilityBase()¶ Default input constraints, no half plane constraints.
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FeasibilityBase(const InputConstraints &input_constraints)¶ User input constraints, no half plane constraints.
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InputFeasibilityResult
checkInputFeasibilityTrajectory(const Trajectory &trajectory) const¶ Checks a trajectory for input feasibility.
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virtual InputFeasibilityResult
checkInputFeasibility(const Segment &segment) const¶ Checks a segment for input feasibility.
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InputConstraints
getInputConstraints() const¶
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bool
checkHalfPlaneFeasibility(const Trajectory &trajectory) const¶ Checks if a trajectory stays within a set of half planes.
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bool
checkHalfPlaneFeasibility(const Segment &segment) const¶ Checks if a segment stays within a set of half planes.
This check computes the extrema for each axis and checks whether these lie in the positive half space as in https://github.com/markwmuller/RapidQuadrocopterTrajectories/blob/master/C%2B%2B/RapidTrajectoryGenerator.cpp#L149
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