ReachableVolumes.cpp File Reference

#include "Geometry/Bodies/Chain.h"
#include "Geometry/Bodies/Connection.h"
#include "Geometry/Bodies/MultiBody.h"
#include "Geometry/Boundaries/Boundary.h"
#include "Geometry/Boundaries/WorkspaceBoundingSphericalShell.h"
#include "MPProblem/Robot/Robot.h"
#include "ReachableVolumes.h"
#include "Transformation.h"
#include <algorithm>

Include dependency graph for ReachableVolumes.cpp:

Functions
double	ComputeReachableDistanceOfSingleLink (const size_t _dimension, const Connection *_joint, const Connection *_parent, const Chain *_chain)
WorkspaceBoundingSphericalShell	ComputeReachableVolume (const size_t _dimension, const std::vector< double > &_center, const Chain &_chain)

Function Documentation

ComputeReachableDistanceOfSingleLink()

double ComputeReachableDistanceOfSingleLink	(	const size_t	_dimension,
		const Connection *	_joint,
		const Connection *	_parent,
		const Chain *	_chain
	)

Compute the unconstrained reachable distance of one joint in a linear chain, relative to its parent.

Parameters

_dimension	The workspace dimension.
_joint	The joint to compute the reachable distance for.
_parent	The parent of _joint in the current ordering of _chain.
_chain	The chain which holds _joint and _parent (may be forward or reverse oriented relative to the multibody).

Returns

The reachable distance of _joint relative to _parent.

Todo:

We can probably support some non-actuated joints here, but need to verify with the theory.

ComputeReachableVolume()

WorkspaceBoundingSphericalShell ComputeReachableVolume	(	const size_t	_dimension,
		const std::vector< double > &	_center,
		const Chain &	_chain
	)

Compute the reachable volume of a chain.

Parameters

_dimension	The workspace dimension.
_chain	The chain.

Returns

The reachable volume of _chain's end relative to its root.