planning
constraint
YeeKal
•
•
"#planning"
ProjectEvaluator
Abstract definition for a class computing projections to $R^n$.
auto constraint_space=std::make_shared<ompl::base::ProjectedStateSpace>(space,constraint);
//注册自定义投影类
constraint_space->registerProjection("sphere", std::make_shared<SphereProjection>(constraint_space));