move3d » move4d

move4d lacks a unified system to develop and use constraints (as in nonlinear inequality constraint).

A constraint should inherit from a class like:

class Constraint {
public:
double cost(RobotState); //a cost (>=0) representing the constraint
double constraint(RobotState); // constraint is satisfied when <0
bool check(RobotState);
};

And also be registered by the cost_space or other top level singleton.

Note:
libmove3d uses "constraint" for code that constrains some dofs according to other (used to mimic joints, IK on virtual joint,...). They can also be satisfied or not, but miss a continuous value. Take a reflexion on the possibility/pro/cons of mixing both, or keeping them separated.