def __init__(self,robot,collider=None):
AdaptiveCSpace.__init__(self)
self.robot = robot
self.bound = zip(*robot.getJointLimits())
self.collider = collider
#set this to false to turn off the adaptive tester, which may
#have some overhead
self.adaptive = True
#adaptive tests
self.addFeasibleTest(lambda(x): self.inJointLimits(x),"joint limits")
#TODO explode these into individual self collision / env collision
#tests
self.addFeasibleTest(lambda(x): not self.selfCollision(),"self collision")
self.addFeasibleTest(lambda(x): not self.envCollision(),"env collision")
def __init__(self, robot, collider=None):
AdaptiveCSpace.__init__(self)
self.robot = robot
self.bound = zip(*robot.getJointLimits())
self.collider = collider
#set this to false to turn off the adaptive tester, which may
#have some overhead
self.adaptive = True
#adaptive tests
self.addFeasibleTest(lambda (x): self.inJointLimits(x), "joint limits")
#TODO explode these into individual self collision / env collision
#tests
self.addFeasibleTest(lambda (x): not self.selfCollision(),
"self collision")
self.addFeasibleTest(lambda (x): not self.envCollision(),
"env collision")
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
def sample(self):
"""Overload this to implement custom sampling strategies or to handle
non-standard joints"""
return AdaptiveCSpace.sample(self)
