parameters: (self,c,r)
return_statement: return self.solveConstraints(x)
docstring: Samples a neighborhood in ambient space and then projects onto the
          contact manifold.
docstring_summary: Samples a neighborhood in ambient space and then projects onto the
          contact manifold.
docstring_tokens: Samples a neighborhood in ambient space and then projects onto the contact manifold .
function: def sampleneighborhood(self,c,r):
          """Samples a neighborhood in ambient space and then projects onto the
          contact manifold.
          """
          x = RobotCSpace.sampleneighborhood(self,c,r)
          return self.solveConstraints(x)
function_tokens: def sampleneighborhood ( self , c , r ) : x = RobotCSpace . sampleneighborhood ( self , c , r ) return self . solveConstraints ( x )