def feasible(self, x): if self.adaptive: #Use the adaptive tester robot.setConfig(x) return AdaptiveCSpace.feasible(self, x) if not self.inJointLimits(x): return False robot.setConfig(x) if not self.closedLoop(): return False if self.selfCollision(): return False if self.envCollision(): return False return True
def feasible(self,x): if self.adaptive: #Use the adaptive tester robot.setConfig(x) return AdaptiveCSpace.feasible(self,x) if not self.inJointLimits(x): return False robot.setConfig(x) if not self.closedLoop(): return False; if self.selfCollision(): return False if self.envCollision(): return False return True
def feasible(self, x): if self.adaptive: #Use the adaptive tester self.robot.setConfig(x) return AdaptiveCSpace.feasible(self, x) #Use the regular tester if not self.inJointLimits(x): return False #check collisions if self.collider: self.robot.setConfig(x) if self.selfCollision(): return False if self.envCollision(): return False return True
def feasible(self,x): if self.adaptive: #Use the adaptive tester self.robot.setConfig(x) return AdaptiveCSpace.feasible(self,x) #Use the regular tester if not self.inJointLimits(x): return False #check collisions if self.collider: self.robot.setConfig(x) if self.selfCollision(): return False if self.envCollision(): return False return True
def feasible(self,x): """Feasibility test. If self.adaptive=True, uses the adaptive feasibility tester which may speed up collision testing.""" if self.adaptive: #Use the adaptive tester self.robot.setConfig(x) return AdaptiveCSpace.feasible(self,x) #Use the regular tester if not self.inJointLimits(x): return False #check collisions if self.collider: self.robot.setConfig(x) if self.selfCollision(): return False if self.envCollision(): return False return True