Cfg Class Reference

#include <Cfg.h>

Collaboration diagram for Cfg:

Public Member Functions
Construction
	Cfg ()
	Cfg (Robot *const _robot)
	Cfg (const mathtool::Vector3d &_v, Robot *const _robot=nullptr)
	Cfg (const Cfg &_other)
	Cfg (Cfg &&_other)
virtual	~Cfg ()
Assignment
Cfg &	operator= (const Cfg &_cfg)
Cfg &	operator= (Cfg &&_cfg)
Cfg &	operator+= (const Cfg &_cfg)
Cfg &	operator-= (const Cfg &_cfg)
Cfg &	operator*= (const Cfg &_cfg)
Cfg &	operator/= (const Cfg &_cfg)
Cfg &	operator*= (const double _d)
Cfg &	operator/= (const double _d)
Arithmetic
Cfg	operator- () const
	Find the negative of the configuration. More...
Cfg	operator+ (const Cfg &_cfg) const
Cfg	operator- (const Cfg &_cfg) const
Cfg	operator* (const Cfg &_cfg) const
Cfg	operator/ (const Cfg &_cfg) const
Cfg	operator* (const double _d) const
Cfg	operator/ (const double _d) const
Equality
bool	operator== (const Cfg &_cfg) const
bool	operator!= (const Cfg &_cfg) const
bool	WithinResolution (const Cfg &_cfg, const double _posRes, const double _oriRes) const
Comparison
bool	operator< (const Cfg &_cfg) const
Robot Info
Robot *	GetRobot () const noexcept
void	SetRobot (Robot *const _r) noexcept
MultiBody *	GetMultiBody () const noexcept
size_t	DOF () const noexcept
size_t	PosDOF () const noexcept
size_t	OriDOF () const noexcept
size_t	JointDOF () const noexcept
bool	IsNonholonomic () const noexcept
	Is the robot nonholonomic? More...
DOF Accessors
double &	operator[] (const size_t _dof) noexcept
double	operator[] (const size_t _dof) const noexcept
const std::vector< double > &	GetData () const noexcept
double &	Velocity (const size_t _dof) noexcept
double	Velocity (const size_t _dof) const noexcept
const std::vector< double > &	GetVelocity () const noexcept
virtual void	SetData (const std::vector< double > &_data)
virtual void	SetData (std::vector< double > &&_data)
void	SetJointData (const std::vector< double > &_data)
Point3d	GetPoint () const noexcept
	Get the robot's reference point. More...
virtual std::vector< double >	GetPosition () const
	Get a vector of the robot's positional DOFs. More...
virtual std::vector< double >	GetRotation () const
	Get a vector of the robot's rotational DOFs. More...
virtual std::vector< double >	GetJoints () const
	Get a vector of the robot's joint DOFs. More...
virtual std::vector< double >	GetNonJoints () const
	Get a vector of the robot's non-joint DOFs. More...
virtual std::vector< double >	GetOrientation () const
	Get a vector of the robot's orientational DOFs. More...
virtual double	Magnitude () const
	Get the magnitude of the robot's DOF vector. More...
virtual double	PositionMagnitude () const
	Get the magnitude of the robot's positional DOF vector. More...
virtual double	OrientationMagnitude () const
	Get the magnitude of the robot's orientational DOF vector. More...
mathtool::Vector3d	GetLinearPosition () const
	Get the position in R^3. More...
mathtool::Vector3d	GetAngularPosition () const
	Get the euler vector rotation. More...
mathtool::EulerAngle	GetEulerAngle () const
	Get the euler angle rotation. More...
mathtool::Vector3d	GetLinearVelocity () const
	Get the position velocity in R^3. More...
mathtool::Vector3d	GetAngularVelocity () const
	Get the rotation velocity in R^3. More...
mathtool::Transformation	GetBaseTransformation () const
	Get the world transformation of the robot's base. More...
void	SetLinearPosition (const mathtool::Vector3d &)
	Sets the robot's linear position. More...
void	SetAngularPosition (const mathtool::Vector3d &)
	Sets the robot's angular position. More...
void	SetEulerAngle (const mathtool::EulerAngle &)
	Sets the robot's euler angle. More...
void	SetLinearVelocity (const mathtool::Vector3d &)
	Sets the robot's linear velocity. More...
void	SetAngularVelocity (const mathtool::Vector3d &)
	Sets the robot's angular velocity. More...
void	SetBaseTransformation (const mathtool::Transformation &)
	Sets the robot's base tranformation. More...
void	TransformCfg (const mathtool::Transformation &)
	Transforms the cfg about a new frame of reference. More...
Labels and Stats
Each Cfg has a set of labels and stats. Label are boolean attributes, while stats are real-valued.
bool	GetLabel (const std::string &_label) const
	Get the robot's label for the given string identifier. More...
bool	IsLabel (const std::string &_label) const noexcept
	Does the robot have a given string label? More...
void	SetLabel (const std::string &_label, const bool _value) noexcept
	Set the robot's string label given the string identifier. More...
double	GetStat (const std::string &_stat) const
	Get a statistic given a string identifier. More...
bool	IsStat (const std::string &_stat) const noexcept
	Does the robot have a statistic given a string identifier? More...
void	SetStat (const std::string &_stat, const double _value=0) noexcept
	Set a statistic given a string identifier. More...
void	IncrementStat (const std::string &_stat, const double _value=1) noexcept
	Increment a statistic given a string identifier. More...
Generation Methods
void	Zero () noexcept
	Set all DOFs to zero. More...
bool	InBounds (const Boundary *const _b) const noexcept
bool	InBounds (const Environment *const _env) const noexcept
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
virtual void	GetRandomCfg (const Boundary *const _b)
virtual void	GetRandomCfg (Environment *_env)
virtual void	GetRandomVelocity ()
	Randomly sample the velocity for this configuration. More...
template<typename DistanceMetricPointer >
void	GetRandomRay (const double _length, DistanceMetricPointer _dm, const bool _norm=true)
virtual void	ConfigureRobot () const
	Configure the robot with the DOF values of this configuration. More...
virtual void	IncrementTowardsGoal (const Cfg &_goal, const Cfg &_increment)
virtual void	FindIncrement (const Cfg &_start, const Cfg &_goal, const int _nTicks)
virtual void	FindIncrement (const Cfg &_start, const Cfg &_goal, int *_nTicks, const double _positionRes, const double _orientationRes)
virtual void	WeightedSum (const Cfg &_c1, const Cfg &_c2, const double _weight=.5)
virtual void	GetPositionOrientationFrom2Cfg (const Cfg &_pos, const Cfg &_ori)
C-Space Directions
std::vector< double >	DirectionInLocalFrame (const Cfg &_target) const
Helpers
void	EnableNormalization () const
	Enable the normalization of orientation DOFs. More...
void	DisableNormalization () const
	Disable the normalization of orientation DOFs. More...
virtual void	NormalizeOrientation (const int _index=-1) noexcept
void	EnforceVelocityLimits () noexcept
	Ensure that this Cfg respects the robot's velocity limits. More...

Data Fields
Internal State with poor encapsulation
@TODO Fix encapsulation issues. @TODO Witness should not be a shared_ptr.
CDInfo	m_clearanceInfo
std::shared_ptr< Cfg >	m_witnessCfg

Protected Attributes
Internal State
std::vector< double >	m_dofs
	The DOF values. More...
std::vector< double >	m_vel
	The velocities, if any. More...
Robot *	m_robot {nullptr}
	The robot this cfg refers to. More...
std::map< std::string, bool >	m_labelMap
	A map of labels for this cfg. More...
std::map< std::string, double >	m_statMap
	A map of stats for this cfg. More...
double(*	m_normalizer )(const double &)
	The function to use for normalizing orientation DOFs. More...

I/O
static Robot *	inputRobot = nullptr
virtual void	Read (std::istream &_is)
virtual void	Write (std::ostream &_os) const
std::string	PrettyPrint (const size_t _precision=4) const
std::string	ToString () const

Detailed Description

A point in configuration space.

Each instance holds an array of values representing all the degrees of freedom of a robot. Translational DOFs represent the position of a reference point on the robot relative to the world origin. Angular and joint DOFs are normalized to the range [-1, 1), so this object can only reliably represent points in @cspace and not directions.

Constructor & Destructor Documentation

Cfg() [1/5]

Cfg::Cfg ( )

explicit

Construct a configuration for Cfg::inputRobot.

This constructor is provided for two cases: allocating storage for Cfgs without knowing the robot in advance, and reading in roadmaps. The robot pointer will be Cfg::inputRobot, which can be thought of as a variable default for the Cfg(Robot* const) constructor.

Cfg() [2/5]

Cfg::Cfg ( Robot *const  _robot )

explicit

Construct a configuration for a given robot.

Parameters

_robot

The robot this represents.

Cfg() [3/5]

Cfg::Cfg ( const mathtool::Vector3d &  _v, Robot *const  _robot = nullptr  )

explicit

Construct a configuration for a given robot at a specified point in workspace.

Parameters

_v	The workspace location of the robot's reference point.
_robot	The robot to represent.

Cfg() [4/5]

Cfg::Cfg

(

const Cfg &

_other

)

Construct a copy of a configuration.

Parameters

_other

The configuration to copy.

Cfg() [5/5]

Cfg::Cfg

(

Cfg &&

_other

)

Construct a copy of a configuration.

Parameters

_other

The configuration to copy.

~Cfg()

Cfg::~Cfg ( )

virtualdefault

Member Function Documentation

ConfigureRobot()

void Cfg::ConfigureRobot ( ) const

virtual

Configure the robot with the DOF values of this configuration.

DirectionInLocalFrame()

std::vector< double > Cfg::DirectionInLocalFrame

(

const Cfg &

_target

)

const

Find a c-space direction to another configuration in the local (base body) frame of this Cfg. The rotational component will be in Euler Vector representation since Euler Angles do not really live in the local or global frame.

Parameters

_target

The target configuration.

Returns

The c-space direction from this to _target in the local frame of this, using Euler Vector representation for the orientation. @WARNING This function is still wrong, it does not handle the rotational components correctly.

DisableNormalization()

void Cfg::DisableNormalization

(

)

const

Disable the normalization of orientation DOFs.

DOF()

size_t Cfg::DOF ( ) const

noexcept

Get the robot's DOF count.

Returns

The robot's DOF count.

Warning

For composite C-Space this returns a total DOF count.

EnableNormalization()

void Cfg::EnableNormalization

(

)

const

Enable the normalization of orientation DOFs.

EnforceVelocityLimits()

void Cfg::EnforceVelocityLimits ( )

noexcept

Ensure that this Cfg respects the robot's velocity limits.

FindIncrement() [1/2]

void Cfg::FindIncrement ( const Cfg &  _start, const Cfg &  _goal, const int  _nTicks  )

virtual

Find the c-space increment that moves from a start to a goal in a fixed number of steps.

Parameters

_start	The start configuration.
_goal	The goal configuration.
_nTicks	The number of steps to take.

FindIncrement() [2/2]

void Cfg::FindIncrement ( const Cfg &  _start, const Cfg &  _goal, int *  _nTicks, const double  _positionRes, const double  _orientationRes  )

virtual

Find the c-space increment and number of steps needed to move from a start to a goal, taking steps no larger than the designated resolutions.

Parameters

_start	The start configuration.
_goal	The goal configuration.
_nTicks	The number of steps to take (computed by this method).
_positionRes	The position resolution to use.
_orientationRes	The orientation resolution to use.

GetAngularPosition()

Vector3d Cfg::GetAngularPosition

(

)

const

Get the euler vector rotation.

GetAngularVelocity()

Vector3d Cfg::GetAngularVelocity

(

)

const

Get the rotation velocity in R^3.

GetBaseTransformation()

Transformation Cfg::GetBaseTransformation

(

)

const

Get the world transformation of the robot's base.

GetData()

const std::vector< double > & Cfg::GetData ( ) const

noexcept

Get the data for all DOFs.

Returns

A vector of all DOFs.

GetEulerAngle()

EulerAngle Cfg::GetEulerAngle

(

)

const

Get the euler angle rotation.

GetJoints()

vector< double > Cfg::GetJoints ( ) const

virtual

Get a vector of the robot's joint DOFs.

GetLabel()

bool Cfg::GetLabel

(

const std::string &

_label

)

const

Get the robot's label for the given string identifier.

GetLinearPosition()

Vector3d Cfg::GetLinearPosition

(

)

const

Get the position in R^3.

GetLinearVelocity()

Vector3d Cfg::GetLinearVelocity

(

)

const

Get the position velocity in R^3.

GetMultiBody()

MultiBody * Cfg::GetMultiBody ( ) const

noexcept

Get the robot's multibody.

Returns

The robot's multibody.

GetNonJoints()

vector< double > Cfg::GetNonJoints ( ) const

virtual

Get a vector of the robot's non-joint DOFs.

GetOrientation()

vector< double > Cfg::GetOrientation ( ) const

virtual

Get a vector of the robot's orientational DOFs.

GetPoint()

Point3d Cfg::GetPoint ( ) const

noexcept

Get the robot's reference point.

GetPosition()

vector< double > Cfg::GetPosition ( ) const

virtual

Get a vector of the robot's positional DOFs.

GetPositionOrientationFrom2Cfg()

void Cfg::GetPositionOrientationFrom2Cfg ( const Cfg &  _pos, const Cfg &  _ori  )

virtual

Extract the position and orientation for this configuration from two other configurations.

Parameters

_pos	Copy the position from this configuration.
_ori	Copy the orientation from this configuration.

GetRandomCfg() [1/2]

void Cfg::GetRandomCfg ( const Boundary *const  _b )

virtual

Create a configuration where workspace robot's EVERY VERTEX is guaranteed to lie within the specified boundary. If a cfg can't be found, the program will abort. The function will try a predefined number of times.

Parameters

_b	The given boundary.

GetRandomCfg() [2/2]

void Cfg::GetRandomCfg ( Environment *  _env )

virtual

Create a configuration within the given environment.

Parameters

_env	The given environment.

GetRandomRay()

template<class DistanceMetricPointer >

void Cfg::GetRandomRay	(	const double	_length,
		DistanceMetricPointer	_dm,
		const bool	_norm = true
	)

Generate a random configuration with a set length.

Parameters

_length	The desired length.
_dm	The distance metric for checking length.
_norm	Normalize the orientation DOFs?

GetRandomVelocity()

void Cfg::GetRandomVelocity ( )

virtual

Randomly sample the velocity for this configuration.

GetRobot()

Robot * Cfg::GetRobot ( ) const

noexcept

Get the robot corresponding to this configuration.

Returns

The corresponding robot.

GetRotation()

vector< double > Cfg::GetRotation ( ) const

virtual

Get a vector of the robot's rotational DOFs.

GetStat()

double Cfg::GetStat

(

const std::string &

_stat

)

const

Get a statistic given a string identifier.

GetVelocity()

const std::vector< double > & Cfg::GetVelocity ( ) const

noexcept

Get the velocity data for all DOFs.

Returns

A vector of all DOF velocity data.

InBounds() [1/2]

bool Cfg::InBounds ( const Boundary *const  _b ) const

noexcept

Test if a configuration lies within a boundary and also within the robot's c-space limits.

Parameters

_boundary

The boundary to check.

Returns

True if the configuration places the robot inside both the boundary and its DOF limits.

InBounds() [2/2]

bool Cfg::InBounds ( const Environment *const  _env ) const

noexcept

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

IncrementStat()

void Cfg::IncrementStat ( const std::string &  _stat, const double  _value = 1  )

noexcept

Increment a statistic given a string identifier.

IncrementTowardsGoal()

void Cfg::IncrementTowardsGoal ( const Cfg &  _goal, const Cfg &  _increment  )

virtual

Move this configuration towards a goal by adding a fixed increment.

Parameters

_goal	The desired goal configuration.
_increment	The fixed increment to add to this, moving towards goal.

IsLabel()

bool Cfg::IsLabel ( const std::string &  _label ) const

noexcept

Does the robot have a given string label?

IsNonholonomic()

bool Cfg::IsNonholonomic ( ) const

noexcept

Is the robot nonholonomic?

IsStat()

bool Cfg::IsStat ( const std::string &  _stat ) const

noexcept

Does the robot have a statistic given a string identifier?

JointDOF()

size_t Cfg::JointDOF ( ) const

noexcept

Get the robot's joint DOF count.

Returns

The robot's joint DOF count.

Warning

For composite C-Space this function return "per body" counts.

Magnitude()

double Cfg::Magnitude ( ) const

virtual

Get the magnitude of the robot's DOF vector.

NormalizeOrientation()

void Cfg::NormalizeOrientation ( const int  _index = -1 )

virtualnoexcept

Normalize an orientation DOF to the range [-1, 1).

Parameters

_index

The index of the DOF to normalize. If it is -1, all orientation DOFs will be normalized.

operator!=()

bool Cfg::operator!=

(

const Cfg &

_cfg

)

const

Check if the current and given configurations are unequal.

Parameters

_cfg	The given configuration.

Returns

True is unequal, false otherwise.

operator*() [1/2]

Cfg Cfg::operator*

(

const Cfg &

_cfg

)

const

Find the product of the current and a given configuration, by each degree of freedom.

Parameters

_cfg	The configuration used to multiply the current.

Returns

The product of the configurations.

operator*() [2/2]

Cfg Cfg::operator*

(

const double

_d

)

const

Find the configuration obtained by multiplying the current by a scalar.

Parameters

_d	The scalar used to multiply the current.

Returns

The multiplied configuration.

operator*=() [1/2]

Cfg & Cfg::operator*=

(

const Cfg &

_cfg

)

Multiply the current configuration by a given configuration, by each degree of freedom

Parameters

_cfg	The configuration to multiply the current.

operator*=() [2/2]

Cfg & Cfg::operator*=

(

const double

_d

)

Multiply the current configuration by a scalar.

Parameters

_d	The scalar used to multiply the current.

operator+()

Cfg Cfg::operator+

(

const Cfg &

_cfg

)

const

Find the sum of the current and a given configuration, by each degree of freedom.

Parameters

_cfg	The configuration to be added.

Returns

The sum of the configurations.

operator+=()

Cfg & Cfg::operator+=

(

const Cfg &

_cfg

)

Add a given configuration to the current, by each degree of freedom.

Parameters

_cfg	The configuration to be added.

operator-() [1/2]

Cfg Cfg::operator-

(

)

const

Find the negative of the configuration.

operator-() [2/2]

Cfg Cfg::operator-

(

const Cfg &

_cfg

)

const

Find the difference of the current and a given configuration, by each degree of freedom.

Parameters

_cfg	The configuration to be subtracted.

Returns

The difference of the configurations.

operator-=()

Cfg & Cfg::operator-=

(

const Cfg &

_cfg

)

Subtract a given configuration from the current, by each degree of freedom.

Parameters

_cfg	The configuration to be subtracted.

@TODO For optimal runtime, comment out this condition. Assembly planning needs this case handled differently to make sure we get all dofs.

operator/() [1/2]

Cfg Cfg::operator/

(

const Cfg &

_cfg

)

const

Find the quotient of the current and a given configuration, by each degree of freedom.

Parameters

_cfg	The configuration used to divide the current.

Returns

The quotient of the configurations.

operator/() [2/2]

Cfg Cfg::operator/

(

const double

_d

)

const

Find the configuration obtained by dividing the current by a scalar.

Parameters

_d	The scalar used to divide the current.

Returns

The divided configuration.

operator/=() [1/2]

Cfg & Cfg::operator/=

(

const Cfg &

_cfg

)

Divide the current configuration by a given configuration, by each degree of freedom.

Parameters

_cfg	The configuration to divide the current.

operator/=() [2/2]

Cfg & Cfg::operator/=

(

const double

_d

)

Divide the current configuration by a scalar.

Parameters

_d	The scalar used to divide the current.

operator<()

bool Cfg::operator<

(

const Cfg &

_cfg

)

const

Check if the current configuration is less that the given.

Parameters

_cfg	The given configuration.

Returns

True if less than the given, false otherwise.

Todo:

The function currently seems to check each dof in order, returning T/F immediately unless exactly equal; is this intended?

operator=() [1/2]

Cfg & Cfg::operator=

(

Cfg &&

_cfg

)

Set a configuration equal to another.

Parameters

_cfg	The configuration to be set to.

operator=() [2/2]

Cfg & Cfg::operator=

(

const Cfg &

_cfg

)

Set a configuration equal to another.

Parameters

_cfg	The configuration to be set to.

operator==()

bool Cfg::operator==

(

const Cfg &

_cfg

)

const

Check if the current and given configurations are equal.

Parameters

_cfg	The given configuration.

Returns

True is equal, false otherwise.

operator[]() [1/2]

double Cfg::operator[] ( const size_t  _dof ) const

noexcept

operator[]() [2/2]

double & Cfg::operator[] ( const size_t  _dof )

noexcept

Access the data for a given DOF.

Parameters

_dof	The index of the desired DOF.

Returns

The desired DOF.

OriDOF()

size_t Cfg::OriDOF ( ) const

noexcept

Get the robot's orientational DOF count.

Returns

The robot's orientational DOF count.

Warning

For composite C-Space this function return "per body" counts.

OrientationMagnitude()

double Cfg::OrientationMagnitude ( ) const

virtual

Get the magnitude of the robot's orientational DOF vector.

PosDOF()

size_t Cfg::PosDOF ( ) const

noexcept

Get the robot's positional DOF count.

Returns

The robot's positional DOF count.

Warning

For composite C-Space this function return "per body" counts.

PositionMagnitude()

double Cfg::PositionMagnitude ( ) const

virtual

Get the magnitude of the robot's positional DOF vector.

PrettyPrint()

std::string Cfg::PrettyPrint

(

const size_t

_precision = 4

)

const

Print the Cfg's dofs and velocities with limited precision for terminal debugging.

Parameters

_precision

The display precision.

Returns

A string of [dof1, dof2, ..., dofn] for holonomic robots, or {[dof1, ..., dofn], <vel1, ..., veln>} for nonholonomic robots.

Read()

void Cfg::Read ( std::istream &  _is )

virtual

Read a configuration from an input stream.

Parameters

_is	The input stream to read from.

SetAngularPosition()

void Cfg::SetAngularPosition

(

const mathtool::Vector3d &

)

Sets the robot's angular position.

SetAngularVelocity()

void Cfg::SetAngularVelocity

(

const mathtool::Vector3d &

)

Sets the robot's angular velocity.

SetBaseTransformation()

void Cfg::SetBaseTransformation

(

const mathtool::Transformation &

)

Sets the robot's base tranformation.

SetData() [1/2]

void Cfg::SetData ( const std::vector< double > &  _data )

virtual

Set the DOF data.

Parameters

_data

The vector of new DOF data.

SetData() [2/2]

void Cfg::SetData ( std::vector< double > &&  _data )

virtual

SetEulerAngle()

void Cfg::SetEulerAngle

(

const mathtool::EulerAngle &

)

Sets the robot's euler angle.

SetJointData()

void Cfg::SetJointData

(

const std::vector< double > &

_data

)

Set the joint DOF data. Other DOFs will remain unchanged.

Parameters

_data

The vector of new DOF joint data.

SetLabel()

void Cfg::SetLabel ( const std::string &  _label, const bool  _value  )

noexcept

Set the robot's string label given the string identifier.

SetLinearPosition()

void Cfg::SetLinearPosition

(

const mathtool::Vector3d &

)

Sets the robot's linear position.

SetLinearVelocity()

void Cfg::SetLinearVelocity

(

const mathtool::Vector3d &

)

Sets the robot's linear velocity.

SetRobot()

void Cfg::SetRobot ( Robot *const  _r )

noexcept

Set the robot corresponding to this configuration.

Parameters

_r	The desired new robot.

SetStat()

void Cfg::SetStat ( const std::string &  _stat, const double  _value = 0  )

noexcept

Set a statistic given a string identifier.

ToString()

std::string Cfg::ToString

(

)

const

TransformCfg()

void Cfg::TransformCfg

(

const mathtool::Transformation &

)

Transforms the cfg about a new frame of reference.

Velocity() [1/2]

double Cfg::Velocity ( const size_t  _dof ) const

noexcept

Velocity() [2/2]

double & Cfg::Velocity ( const size_t  _dof )

noexcept

Access the velocity data for a given DOF.

Parameters

_dof	The index of the desired DOF.

Returns

The desired DOF's velocity data.

WeightedSum()

void Cfg::WeightedSum ( const Cfg &  _c1, const Cfg &  _c2, const double  _weight = .5  )

virtual

Create a configuration from the weighted sum of two other cfgs.

Parameters

_c1	The first configuration.
_c2	The second configuration.
_weight	The weight for the second configuration. The first will have (1 - _weight).

WithinResolution()

bool Cfg::WithinResolution	(	const Cfg &	_cfg,
		const double	_posRes,
		const double	_oriRes
	)		const

Check if the current and given configurations are equal. within a given set of resolutions.

Parameters

_cfg	The given configuration.
_posRes	The resolution for positional degrees of freedom.
_oriRes	The resolution for orientational degrees of freedom.

Returns

True if both are within the given resolutions, false otherwise.

@TODO comment this out if speed is important, the assembly planning stuff needs to have composite bodies analyzed differently for now though.

Write()

void Cfg::Write ( std::ostream &  _os ) const

virtual

Write a configuration to an output stream.

Parameters

_os	The output stream to write to.

Zero()

void Cfg::Zero ( )

noexcept

Set all DOFs to zero.

Field Documentation

inputRobot

Robot * Cfg::inputRobot = nullptr

static

@TODO This is needed because we use stapl's graph reading function, which does not allow us to set the robot pointers on construction. Devise a better scheme for doing this that does not involve static data.

m_clearanceInfo

CDInfo Cfg::m_clearanceInfo

m_dofs

std::vector<double> Cfg::m_dofs

protected

The DOF values.

m_labelMap

std::map<std::string, bool> Cfg::m_labelMap

protected

A map of labels for this cfg.

m_normalizer

double(* Cfg::m_normalizer) (const double &)

inlinemutableprotected

The function to use for normalizing orientation DOFs.

m_robot

Robot* Cfg::m_robot {nullptr}

protected

The robot this cfg refers to.

m_statMap

std::map<std::string, double> Cfg::m_statMap

protected

A map of stats for this cfg.

m_vel

std::vector<double> Cfg::m_vel

protected

The velocities, if any.

m_witnessCfg

std::shared_ptr<Cfg> Cfg::m_witnessCfg

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The documentation for this class was generated from the following files:

• /opt/actions-runner/_work/open-ppl/open-ppl/src/ConfigurationSpace/Cfg.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/ConfigurationSpace/Cfg.cpp