codac2::CtcPolar Class Reference

Implements the polar constraint on \(x\in\mathbb{R}\), \(y\in\mathbb{R}\), \(\rho\in\mathbb{R}^+\) and \(\theta\in\mathbb{R}\) such that: More...

#include <codac2_CtcPolar.h>

Public Member Functions
	CtcPolar ()
	Creates the contractor.
void	contract (IntervalVector &x) const
	Applies \(\mathcal{C}_{\textrm{polar}}\big([\mathbf{x}]\big)\).
void	contract (Interval &x, Interval &y, Interval &rho, Interval &theta) const
	Applies \(\mathcal{C}_{\textrm{polar}}\big([x],[y],[\rho],[\theta]\big)\).

Detailed Description

Implements the polar constraint on \(x\in\mathbb{R}\), \(y\in\mathbb{R}\), \(\rho\in\mathbb{R}^+\) and \(\theta\in\mathbb{R}\) such that:

\[\left\{~\begin{array}{lll}x&=&\rho\cos\theta\\y&=&\rho\sin\theta\end{array}\right. \]

The contractor can be applied either on a 4d box or on a set of four intervals.

This contractor is minimal.

In robotics, it can be used to express a range-and-bearing constraint. It can be seen as an extension of \(\mathcal{C}_{\textrm{dist}}\) enriched with the bearing information.

Member Function Documentation

contract() [1/2]

void codac2::CtcPolar::contract

(

IntervalVector &

x

)

const

Applies \(\mathcal{C}_{\textrm{polar}}\big([\mathbf{x}]\big)\).

Parameters

x	IntervalVector for \((x,y,\rho,\theta)^\intercal\)

contract() [2/2]

void codac2::CtcPolar::contract	(	Interval &	x,
		Interval &	y,
		Interval &	rho,
		Interval &	theta ) const

Applies \(\mathcal{C}_{\textrm{polar}}\big([x],[y],[\rho],[\theta]\big)\).

Parameters

x	Interval for \(x\)
y	Interval for \(y\)
rho	Interval for \(\rho\)
theta	Interval for \(\theta\)

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The documentation for this class was generated from the following file:

• /home/simon/codac-simon/src/core/contractors/codac2_CtcPolar.h