Commit 3abea774 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

[ConfigProjector] Add method isSatisfied with input error threshold.

parent fc5036b1
Pipeline #14000 failed with stage
in 81 minutes and 51 seconds
...@@ -261,8 +261,16 @@ namespace hpp { ...@@ -261,8 +261,16 @@ namespace hpp {
/// @} /// @}
/// Check whether a configuration statisfies the constraint. /// Check whether a configuration statisfies the constraint.
/// \param config the configuration to test,
virtual bool isSatisfied (ConfigurationIn_t config); virtual bool isSatisfied (ConfigurationIn_t config);
/// Check whether a configuration statisfies the constraint.
/// \param config the configuration to test,
/// \param errorThreshold the threshold the norm of each constraint should
/// stay below.
virtual bool isSatisfied (ConfigurationIn_t config, value_type
errorThreshold);
/// Check whether a configuration statisfies the constraint. /// Check whether a configuration statisfies the constraint.
/// ///
/// \param config the configuration to check /// \param config the configuration to check
......
...@@ -276,6 +276,12 @@ namespace hpp { ...@@ -276,6 +276,12 @@ namespace hpp {
return solver_->isSatisfied (config); return solver_->isSatisfied (config);
} }
bool ConfigProjector::isSatisfied (ConfigurationIn_t config,
value_type errorThreshold)
{
return solver_->isSatisfied (config, errorThreshold);
}
bool ConfigProjector::isSatisfied (ConfigurationIn_t config, bool ConfigProjector::isSatisfied (ConfigurationIn_t config,
vector_t& error) vector_t& error)
{ {
......
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