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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2014, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Zachary Kingston */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "ompl/base/Constraint.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "ompl/base/spaces/constraint/ConstrainedStateSpace.h"</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1Constraint.html#a08882bb91416db1a604baaa61525d2cc"> 40</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Constraint.html#a08882bb91416db1a604baaa61525d2cc">ompl::base::Constraint::function</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state, Eigen::Ref<Eigen::VectorXd> out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">function</span>(*state-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ConstrainedStateSpace::StateType</a>>(), out);</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> }</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1Constraint.html#a7f15239c4bbc8b1b8a36e7579d47346c"> 45</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Constraint.html#a7f15239c4bbc8b1b8a36e7579d47346c">ompl::base::Constraint::jacobian</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state, Eigen::Ref<Eigen::MatrixXd> out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  jacobian(*state-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ConstrainedStateSpace::StateType</a>>(), out);</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> }</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1Constraint.html#a4800d1f76f1d56afa1e08dab415d8bda"> 50</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Constraint.html#a7f15239c4bbc8b1b8a36e7579d47346c">ompl::base::Constraint::jacobian</a>(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::MatrixXd> out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  Eigen::VectorXd y1 = x;</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  Eigen::VectorXd y2 = x;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  Eigen::VectorXd t1(getCoDimension());</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  Eigen::VectorXd t2(getCoDimension());</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="comment">// Use a 7-point central difference stencil on each column.</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">for</span> (std::size_t j = 0; j < n_; j++)</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  {</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> ax = std::fabs(x[j]);</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="comment">// Make step size as small as possible while still giving usable accuracy.</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> h = std::sqrt(std::numeric_limits<double>::epsilon()) * (ax >= 1 ? ax : 1);</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="comment">// Can't assume y1[j]-y2[j] == 2*h because of precision errors.</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  y1[j] += h;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  y2[j] -= h;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keyword">function</span>(y1, t1);</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keyword">function</span>(y2, t2);</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">const</span> Eigen::VectorXd m1 = (t1 - t2) / (y1[j] - y2[j]);</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  y1[j] += h;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  y2[j] -= h;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">function</span>(y1, t1);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">function</span>(y2, t2);</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keyword">const</span> Eigen::VectorXd m2 = (t1 - t2) / (y1[j] - y2[j]);</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  y1[j] += h;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  y2[j] -= h;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">function</span>(y1, t1);</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">function</span>(y2, t2);</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keyword">const</span> Eigen::VectorXd m3 = (t1 - t2) / (y1[j] - y2[j]);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  out.col(j) = 1.5 * m1 - 0.6 * m2 + 0.1 * m3;</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="comment">// Reset for next iteration.</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  y1[j] = y2[j] = x[j];</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> }</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1Constraint.html#a84203729cf979b398e8e59f92d136ed3"> 88</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Constraint.html#a84203729cf979b398e8e59f92d136ed3">ompl::base::Constraint::project</a>(<a class="code" href="classompl_1_1base_1_1State.html">State</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">return</span> project(*state-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ConstrainedStateSpace::StateType</a>>());</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> }</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1Constraint.html#a27c1ecac7eb642028d58b33d6742160d"> 93</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Constraint.html#a84203729cf979b398e8e59f92d136ed3">ompl::base::Constraint::project</a>(Eigen::Ref<Eigen::VectorXd> x)<span class="keyword"> const</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="comment">// Newton's method</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> iter = 0;</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordtype">double</span> norm = 0;</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  Eigen::VectorXd f(getCoDimension());</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  Eigen::MatrixXd j(getCoDimension(), n_);</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  </div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> squaredTolerance = tolerance_ * tolerance_;</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keyword">function</span>(x, f);</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">while</span> ((norm = f.squaredNorm()) > squaredTolerance && iter++ < maxIterations_)</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  {</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  jacobian(x, j);</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  x -= j.jacobiSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(f);</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keyword">function</span>(x, f);</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  }</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">return</span> norm < squaredTolerance;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> }</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1Constraint.html#ab19d03c6f8a491a6db1b14ea055a1c62"> 114</a></span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1Constraint.html#ab19d03c6f8a491a6db1b14ea055a1c62">ompl::base::Constraint::distance</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordflow">return</span> distance(*state-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ConstrainedStateSpace::StateType</a>>());</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1Constraint.html#af945e8c94949a4a06a199b567c277be9"> 119</a></span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1Constraint.html#ab19d03c6f8a491a6db1b14ea055a1c62">ompl::base::Constraint::distance</a>(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x)<span class="keyword"> const</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  Eigen::VectorXd f(getCoDimension());</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">function</span>(x, f);</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">return</span> f.norm();</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> }</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1Constraint.html#a0e4d9def91883487533583390fbd2281"> 126</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Constraint.html#a0e4d9def91883487533583390fbd2281">ompl::base::Constraint::isSatisfied</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">State</a> *state)<span class="keyword"> const</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">return</span> isSatisfied(*state-><a class="code" href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">as</a><<a class="code" href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ConstrainedStateSpace::StateType</a>>());</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> }</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classompl_1_1base_1_1Constraint.html#a777dbc260073df452bf52caab80baef5"> 131</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Constraint.html#a0e4d9def91883487533583390fbd2281">ompl::base::Constraint::isSatisfied</a>(<span class="keyword">const</span> Eigen::Ref<const Eigen::VectorXd> &x)<span class="keyword"> const</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  Eigen::VectorXd f(getCoDimension());</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">function</span>(x, f);</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">return</span> f.allFinite() && f.squaredNorm() <= tolerance_ * tolerance_;</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html_a08882bb91416db1a604baaa61525d2cc"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html#a08882bb91416db1a604baaa61525d2cc">ompl::base::Constraint::function</a></div><div class="ttdeci">virtual void function(const State *state, Eigen::Ref< Eigen::VectorXd > out) const</div><div class="ttdoc">Compute the constraint function at state. Result is returned in out, which should be allocated to siz...</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8cpp_source.html#l00040">Constraint.cpp:40</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition:</b> <a href="base_2State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html_a6178474307b3f364184db9999a639af1"><div class="ttname"><a href="classompl_1_1base_1_1State.html#a6178474307b3f364184db9999a639af1">ompl::base::State::as</a></div><div class="ttdeci">const T * as() const</div><div class="ttdoc">Cast this instance to a desired type.</div><div class="ttdef"><b>Definition:</b> <a href="base_2State_8h_source.html#l00162">State.h:162</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html_a84203729cf979b398e8e59f92d136ed3"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html#a84203729cf979b398e8e59f92d136ed3">ompl::base::Constraint::project</a></div><div class="ttdeci">virtual bool project(State *state) const</div><div class="ttdoc">Project a state state given the constraints. If a valid projection cannot be found,...</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8cpp_source.html#l00088">Constraint.cpp:88</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html_a7f15239c4bbc8b1b8a36e7579d47346c"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html#a7f15239c4bbc8b1b8a36e7579d47346c">ompl::base::Constraint::jacobian</a></div><div class="ttdeci">virtual void jacobian(const State *state, Eigen::Ref< Eigen::MatrixXd > out) const</div><div class="ttdoc">Compute the Jacobian of the constraint function at state. Result is returned in out,...</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8cpp_source.html#l00045">Constraint.cpp:45</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ConstrainedStateSpace_1_1StateType_html"><div class="ttname"><a href="classompl_1_1base_1_1ConstrainedStateSpace_1_1StateType.html">ompl::base::ConstrainedStateSpace::StateType</a></div><div class="ttdoc">A State in a ConstrainedStateSpace, represented as a dense real vector of values. For convenience and...</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedStateSpace_8h_source.html#l00200">ConstrainedStateSpace.h:200</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html_a0e4d9def91883487533583390fbd2281"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html#a0e4d9def91883487533583390fbd2281">ompl::base::Constraint::isSatisfied</a></div><div class="ttdeci">virtual bool isSatisfied(const State *state) const</div><div class="ttdoc">Check whether a state state satisfies the constraints.</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8cpp_source.html#l00126">Constraint.cpp:126</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html_ab19d03c6f8a491a6db1b14ea055a1c62"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html#ab19d03c6f8a491a6db1b14ea055a1c62">ompl::base::Constraint::distance</a></div><div class="ttdeci">virtual double distance(const State *state) const</div><div class="ttdoc">Returns the distance of state to the constraint manifold.</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8cpp_source.html#l00114">Constraint.cpp:114</a></div></div>
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