Class Graph::OrientationConstraint¶
Defined in File Graph.hpp
Nested Relationships¶
This class is a nested type of Class Graph.
Class Documentation¶
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class
rmf_traffic::agv::Graph::OrientationConstraint A class that implicitly specifies a constraint on the robot’s orientation.
Public Types
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enum
Direction Values:
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enumerator
Forward
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enumerator
Backward
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enumerator
Public Functions
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virtual bool
apply(Eigen::Vector3d &position, const Eigen::Vector2d &course_vector) const = 0 Apply the constraint to the given homogeneous position.
- Return
True if the constraint is satisfied with the new value of position. False if the constraint could not be satisfied.
- Parameters
[inout] position: The position which needs to be constrained. The function should modify this position such that it satisfies the constraint, if possible.[in] course_vector: The direction that the robot is travelling in. Given for informational purposes.
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virtual rmf_utils::clone_ptr<OrientationConstraint>
clone() const = 0 Clone this OrientationConstraint.
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virtual
~OrientationConstraint() = default
Public Static Functions
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static rmf_utils::clone_ptr<OrientationConstraint>
make(std::vector<double> acceptable_orientations) Make an orientation constraint that requires a specific value for the orientation.
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static rmf_utils::clone_ptr<OrientationConstraint>
make(Direction direction, const Eigen::Vector2d &forward_vector) Make an orientation constraint that requires the vehicle to face forward or backward.
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enum