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
