本文整理匯總了Python中klampt.cspace.CSpace.feasible方法的典型用法代碼示例。如果您正苦於以下問題：Python CSpace.feasible方法的具體用法？Python CSpace.feasible怎麽用？Python CSpace.feasible使用的例子？那麽, 這裏精選的方法代碼示例或許可以為您提供幫助。您也可以進一步了解該方法所在類klampt.cspace.CSpace的用法示例。
在下文中一共展示了CSpace.feasible方法的8個代碼示例，這些例子默認根據受歡迎程度排序。您可以為喜歡或者感覺有用的代碼點讚，您的評價將有助於係統推薦出更棒的Python代碼示例。
示例1: feasible
# 需要導入模塊: from klampt.cspace import CSpace [as 別名]
# 或者: from klampt.cspace.CSpace import feasible [as 別名]
def feasible(self,q):
#TODO: implement me
#the default simply checks if q is within the bounds
return CSpace.feasible(self,q)示例2: feasible
# 需要導入模塊: from klampt.cspace import CSpace [as 別名]
# 或者: from klampt.cspace.CSpace import feasible [as 別名]
def feasible(self,q):
if len(q) != len(self.bound):
# print len(q), len(self.bound)
qnew = q[0:len(self.bound)]
q=qnew
for i in range(len(q)):
# print "q", i, q[i], self.bound[i][0], self.bound[i][1]
if (q[i] < self.bound[i][0]) :
print "Joint #",self.limb_indices[i],"(",q[i],") out of limits (min:",self.bound[i][0],")"
print "Changed joint value to its minimum"
q[i] = self.bound[i][0]
if (q[i] > self.bound[i][1]) :
print "Joint #",self.limb_indices[i],"(",q[i],") out of limits (max:",self.bound[i][1],")"
print "Changed joint value to its maximum"
q[i] = self.bound[i][1]
if not CSpace.feasible(self,q):
# print "LimbCSpace.feasible: Configuration is out of bounds"
return False
# cond = self.planner.check_limb_collision_free(self.limb,q)
# if not cond:
if not self.planner.check_limb_collision_free(self.limb,q):
# print "LimbCSpace.feasible: Configuration is in collision"
return False
return True示例3: feasible
# 需要導入模塊: from klampt.cspace import CSpace [as 別名]
# 或者: from klampt.cspace.CSpace import feasible [as 別名]
def feasible(self,q):
if not CSpace.feasible(self,q):
# print "LimbCSpace.feasible: Configuration is out of bounds"
return False
if not self.planner.check_limb_collision_free(self.limb,q):
# print "LimbCSpace.feasible: Configuration is in collision"
return False
return True示例4: feasible
# 需要導入模塊: from klampt.cspace import CSpace [as 別名]
# 或者: from klampt.cspace.CSpace import feasible [as 別名]
def feasible(self,q):
#bounds test
if not CSpace.feasible(self,q): return False
#TODO: Problem 1: implement your feasibility tests here
#currently, only the center is checked, so the robot collides
#with boundary and obstacles
for o in self.obstacles:
if o.contains(q): return False
return True示例5: feasible
# 需要導入模塊: from klampt.cspace import CSpace [as 別名]
# 或者: from klampt.cspace.CSpace import feasible [as 別名]
def feasible(self, q):
# TODO: implement me
# the default simply checks if q is within the bounds
# check if the q is within the bounds
if CSpace.feasible(self, q):
if self.planner.check_limb_collision_free(self.limb, q, True):
return True
else:
return False
else:
return False示例6: feasible
# 需要導入模塊: from klampt.cspace import CSpace [as 別名]
# 或者: from klampt.cspace.CSpace import feasible [as 別名]
def feasible(self,q):
verbose = False#len(self.extra_feasibility_tests)>0
if verbose: print "Custom CSpace test"
if not CSpace.feasible(self,q):
if verbose: print "Failed CSpace test"
return False
for index,test in enumerate(self.extra_feasibility_tests):
if not test(q):
if verbose: print "Extra feasibility test",index,"returned false, returning configuration infeasible"
return False
if verbose: print "Passed"
return True示例7: feasible
# 需要導入模塊: from klampt.cspace import CSpace [as 別名]
# 或者: from klampt.cspace.CSpace import feasible [as 別名]
def feasible(self,q):
if not CSpace.feasible(self,q):
#print "LimbCSpace.feasible: Configuration is out of bounds"
return False
if not self.planner.check_limb_collision_free(self.limb,q):
#print "LimbCSpace.feasible: Configuration is in collision"
return False
for i in xrange(self.planner.world.numRigidObjects()):
o = self.planner.world.rigidObject(i)
g = o.geometry()
if g != None and g.type()!="":
if self.planner.vacuumPc.withinDistance(g, .03):
return False
return True示例8: feasible
# 需要導入模塊: from klampt.cspace import CSpace [as 別名]
# 或者: from klampt.cspace.CSpace import feasible [as 別名]
def feasible(self,q):
# set robot to given q
# get joint 55 orientation
# if rotation is not right, return false
qcurrent = self.robot.getConfig()
if len(q) < len(qcurrent):
if len(self.limb_indices) != len(q):
return False
else:
for i in range(len(self.limb_indices)):
qcurrent[self.limb_indices[i]] = q[i]
q = qcurrent
# self.robot.setConfig(q)
# Rcur = self.robot.link(55).getTransform()[0]
# # Rgoal
# if len(q)>len(self.limb_indices): return False
# for i in range(len(q)):
# # print "q", i, q[i], self.bound[i][0], self.bound[i][1]
# # print self.limb, self.limb_indices, i, len(q)
# if (q[i] < self.bound[i][0]) :
# print "Joint #",self.limb_indices[i],"(",q[i],") out of limits (min:",self.bound[i][0],")"
# print "Changed joint value to its minimum"
# q[i] = self.bound[i][0]
# if (q[i] > self.bound[i][1]) :
# print "Joint #",self.limb_indices[i],"(",q[i],") out of limits (max:",self.bound[i][1],")"
# print "Changed joint value to its maximum"
# q[i] = self.bound[i][1]
# print 1
# # self.robot.setConfig(q)
# # return AdaptiveCSpace.feasible(self,q)
# print 2
# if not self.inJointLimits(q): return False
# print 3
# self.robot.setConfig(q)
# if not self.closedLoop(): return False;
# #check extras
# print 4
# for f in self.extraFeasibilityTesters:
# if not f(q): return False
# print 5
# #check collisions
# if self.selfCollision(): return False
# print 6
# if self.envCollision(): return False
# return True
if not CSpace.feasible(self,q):
print "CSpace.feasible: Configuration is out of bounds"
return False
if not self.planner.check_collision_free(self.limb,q):
# print "ClosedLoopRobotCSpace.feasible: Configuration is in collision"
return False
return True