#include <Environment.h>

Collaboration diagram for Environment:

[legend]

Public Types
Local Types
typedef std::unordered_map< std::string, std::vector< Terrain > >	TerrainMap

Public Member Functions
Construction
	Environment ()

	Environment (XMLNode &_node)

	Environment (const Environment &_other)
	Copy. More...

	Environment (Environment &&_other)
	Move. More...

virtual	~Environment ()

Assignment
Environment &	operator= (const Environment &_other)
	Copy. More...

Environment &	operator= (Environment &&_other)
	Move. More...

I/O
const std::string &	GetEnvFileName () const noexcept
	Get the environment file name. More...

void	ReadXMLOptions (XMLNode &_node)
	Parse XML options from the Problem XML node. More...

void	ReadXML (XMLNode &_node)
	Parse XML environment file. More...

void	Read (std::string _filename)

void	Print (std::ostream &_os) const

void	Write (std::ostream &_os)

Resolutions
void	ComputeResolution (const std::vector< std::unique_ptr< Robot >> &_robots)

double	GetPositionRes () const noexcept
	Get the position resolution. More...

void	SetPositionRes (double _res) noexcept
	Set the position resolution. More...

double	GetOrientationRes () const noexcept
	Get the orientation resolution. More...

void	SetOrientationRes (double _res) noexcept
	Set the orientation resolution. More...

double	GetTimeRes () const noexcept
	Get the time resolution. More...

Boundary Functions
Boundary *	GetBoundary () const noexcept
	Get the single boundary of the environemnt. More...

void	SetBoundary (std::unique_ptr< Boundary > &&_b) noexcept

Obstacle Functions
size_t	NumObstacles () const noexcept
	Get the number of MultiBodies. More...

MultiBody *	GetObstacle (size_t _index) const

MultiBody *	GetRandomObstacle () const

size_t	AddObstacle (const std::string &_dir, const std::string &_filename, const mathtool::Transformation &_t=mathtool::Transformation())

void	RemoveObstacle (const size_t _position)

void	RemoveObstacle (MultiBody *const _obst)

std::map< mathtool::Vector3d, std::vector< size_t > >	ComputeObstacleVertexMap () const

bool	UsingBoundaryObstacle () const noexcept
	Check if the boundary is also modeled as an obstacle. More...

Terrain Functions
const TerrainMap &	GetTerrains () const noexcept
	Get environment terrains. More...

Protected Member Functions
Helpers
void	InitializeBoundary (std::string _type, const std::string _where)

void	CreateBoundaryObstacle ()
	Create an obstacle for the boundary. More...

Protected Attributes
File Info
std::string	m_filename
	Which file did this environment come from? More...

std::string	m_modelDataDir
	Directory where environment file is located. More...

Resolution Info
double	m_positionRes {-1.}
	Positional resolution of movement. More...

double	m_orientationRes {.05}
	Rotational resolution of movement. More...

double	m_timeRes {.05}
	Resolution for time. More...

Models
std::unique_ptr< Boundary >	m_boundary
	Workspace boundary. More...

std::vector< std::unique_ptr< MultiBody > >	m_obstacles
	Obstacle multibodies. More...

bool	m_boundaryObstacle {false}
	Use the boundary as an obstacle? More...

Terrains
TerrainMap	m_terrains
	Environment terrains. More...

Simulation Properties
mathtool::Transformation	m_initialCameraTransform
	Camera starts here. More...

Simulation Functions
std::unique_ptr< Boundary >	m_originalBoundary

const mathtool::Transformation &	GetInitialCameraTransformation () const noexcept
	Get the initial transformation for the camera. More...

bool	IsolateTerrain (Cfg start, Cfg goal)
	IROS Hacks. More...

bool	SameTerrain (Cfg _start, Cfg _goal)

void	RestoreBoundary ()
	Restores original boundary. More...

void	SaveBoundary ()
	Saves boundary as original boundary. More...

Physical Properties
double	m_frictionCoefficient {0}
	The uniform friction coefficient. More...

mathtool::Vector3d	m_gravity
	The gravity direction and magnitude. More...

double	GetFrictionCoefficient () const noexcept
	Get the friction coefficient. More...

const mathtool::Vector3d &	GetGravity () const noexcept
	Get the gravity 3-vector. More...

Detailed Description

Workspace for the motion planning problem, including a boundary and zero or more obstacles.

Examples: LocalPlanner_UseCase.cpp.

Member Typedef Documentation

◆ TerrainMap

typedef std::unordered_map<std::string, std::vector<Terrain> > Environment::TerrainMap

Constructor & Destructor Documentation

◆ Environment() [1/4]

Environment::Environment ( )

default

◆ Environment() [2/4]

Environment::Environment ( XMLNode & _node )

explicit

◆ Environment() [3/4]

Environment::Environment ( const Environment & _other )

Copy.

◆ Environment() [4/4]

Environment::Environment ( Environment && _other )

default

Move.

◆ ~Environment()

Environment::~Environment ( )

virtualdefault

Member Function Documentation

◆ AddObstacle()

size_t Environment::AddObstacle	(	const std::string &	_dir,
		const std::string &	_filename,
		const mathtool::Transformation &	_t = `mathtool::Transformation()`
	)

Add an obstacle to the environment.

Parameters

_dir	Directory for geometry file
_filename	Geometry filename
_t	Transformation of object

Returns: The index of the newly created obstacle.

◆ ComputeObstacleVertexMap()

std::map< Vector3d, std::vector< size_t > > Environment::ComputeObstacleVertexMap ( ) const

Compute a mapping of the obstacle vertices.

Returns: A map from obstacle points to obstacle indexes.

◆ ComputeResolution()

void Environment::ComputeResolution ( const std::vector< std::unique_ptr< Robot >> & _robots )

Automatically compute position resolution when not specified.

Parameters

_robots Robots to consider when determining resolution

Todo:: Add an automatic computation of the orientation resolution here. This should be done so that rotating the robot base by one orientation resolution makes a point on the bounding sphere move by one position resolution. If possible we should also separate the resolutions for joint angles and base orientations since this gets really, really small with manipulators having several links (probably we'll need to manage this in the local planner to make maximum use of the available resolution).

◆ CreateBoundaryObstacle()

void Environment::CreateBoundaryObstacle ( )

protected

Create an obstacle for the boundary.

◆ GetBoundary()

Boundary * Environment::GetBoundary ( ) const

noexcept

Get the single boundary of the environemnt.

◆ GetEnvFileName()

const std::string & Environment::GetEnvFileName ( ) const

noexcept

Get the environment file name.

◆ GetFrictionCoefficient()

double Environment::GetFrictionCoefficient ( ) const

noexcept

Get the friction coefficient.

◆ GetGravity()

const Vector3d & Environment::GetGravity ( ) const

noexcept

Get the gravity 3-vector.

◆ GetInitialCameraTransformation()

const mathtool::Transformation & Environment::GetInitialCameraTransformation ( ) const

noexcept

Get the initial transformation for the camera.

◆ GetObstacle()

MultiBody * Environment::GetObstacle ( size_t _index ) const

Get requested obstacle

Parameters

_index Requested multibody

Returns: Pointer to static multibody

◆ GetOrientationRes()

double Environment::GetOrientationRes ( ) const

noexcept

Get the orientation resolution.

Examples: LocalPlanner_UseCase.cpp.

◆ GetPositionRes()

double Environment::GetPositionRes ( ) const

noexcept

Get the position resolution.

Examples: LocalPlanner_UseCase.cpp.

◆ GetRandomObstacle()

MultiBody * Environment::GetRandomObstacle ( ) const

Get random multiboy

Returns: Pointer to random static multibody

◆ GetTerrains()

const Environment::TerrainMap & Environment::GetTerrains ( ) const

noexcept

Get environment terrains.

◆ GetTimeRes()

double Environment::GetTimeRes ( ) const

noexcept

Get the time resolution.

◆ InitializeBoundary()

void Environment::InitializeBoundary	(	std::string	_type,
		const std::string	_where
	)

protected

Initialize a boundary object of the appropriate type.

Parameters

_type	Type of boundary object (box, box2d, sphere, or sphere2d)
_where	String for parse exception

◆ IsolateTerrain()

bool Environment::IsolateTerrain	(	Cfg	start,
		Cfg	goal
	)

IROS Hacks.

Determine if two configurations are in the same boundary of a terrain and, if so, sets mutual terrain as new boundary

Parameters

_start	First configuration
_end	Second configuration

Returns: True if _start and _cfg in same terrain boundary,

◆ NumObstacles()

size_t Environment::NumObstacles ( ) const

noexcept

Get the number of MultiBodies.

◆ operator=() [1/2]

Environment & Environment::operator= ( const Environment & _other )

Copy.

Note: We deliberately duplicate the data to make sure the copies are entirely independent. We may wish to revisit this decision at a later time since it is probably safe to share data on static obstacles. I am leaving it this way for now to minimize surprises.

◆ operator=() [2/2]

Environment & Environment::operator= ( Environment && _other )

default

Move.

◆ Print()

void Environment::Print ( std::ostream & _os ) const

Print environment resolutions and boundary information.

Parameters

_os	The output stream to print to.

◆ Read()

void Environment::Read ( std::string _filename )

Parse an old-style environment file.

Parameters

_filename The name of the file to read.

Note: This is provided only for supporting old environments. Do not make any modifications here - if you need to add features, you must upgrade your env file to the newer XML format.

Todo:: Add support for dynamic obstacles

◆ ReadXML()

void Environment::ReadXML ( XMLNode & _node )

Parse XML environment file.

Todo:: Add support for dynamic obstacles

◆ ReadXMLOptions()

void Environment::ReadXMLOptions ( XMLNode & _node )

Parse XML options from the Problem XML node.

◆ RemoveObstacle() [1/2]

void Environment::RemoveObstacle ( const size_t _position )

Remove an obstacle from the environment.

Parameters

_position Index in m_obstacleBodies to be removed

◆ RemoveObstacle() [2/2]

void Environment::RemoveObstacle ( MultiBody *const _obst )

Remove obstacle from environment

Parameters

_obst Obstacle to be removed

◆ RestoreBoundary()

void Environment::RestoreBoundary ( )

Restores original boundary.

◆ SameTerrain()

bool Environment::SameTerrain	(	Cfg	_start,
		Cfg	_goal
	)

Determine if two configurations are in the same terrain

Parameters

_start	First configuration
_end	Second configuration

Returns: True if _start and _cfg in same terrain

◆ SaveBoundary()

void Environment::SaveBoundary ( )

Saves boundary as original boundary.

◆ SetBoundary()

void Environment::SetBoundary ( std::unique_ptr< Boundary > && _b )

noexcept

Get the single boundary of the environemnt

Parameters

_b	The new boundary

◆ SetOrientationRes()

void Environment::SetOrientationRes ( double _res )

noexcept

Set the orientation resolution.

◆ SetPositionRes()

void Environment::SetPositionRes ( double _res )

noexcept

Set the position resolution.

◆ UsingBoundaryObstacle()

bool Environment::UsingBoundaryObstacle ( ) const

noexcept

Check if the boundary is also modeled as an obstacle.

◆ Write()

void Environment::Write ( std::ostream & _os )

Output environment to .env file format.

Parameters

_os	The output stream to write to.

Field Documentation

◆ m_boundary

std::unique_ptr<Boundary> Environment::m_boundary

protected

Workspace boundary.

◆ m_boundaryObstacle

bool Environment::m_boundaryObstacle {false}

protected

Use the boundary as an obstacle?

◆ m_filename

std::string Environment::m_filename

protected

Which file did this environment come from?

◆ m_frictionCoefficient

double Environment::m_frictionCoefficient {0}

protected

The uniform friction coefficient.

◆ m_gravity

mathtool::Vector3d Environment::m_gravity

protected

The gravity direction and magnitude.

◆ m_initialCameraTransform

mathtool::Transformation Environment::m_initialCameraTransform

protected

Camera starts here.

◆ m_modelDataDir

std::string Environment::m_modelDataDir

protected

Directory where environment file is located.

◆ m_obstacles

std::vector<std::unique_ptr<MultiBody> > Environment::m_obstacles

protected

Obstacle multibodies.

◆ m_orientationRes

double Environment::m_orientationRes {.05}

protected

Rotational resolution of movement.

◆ m_originalBoundary

std::unique_ptr<Boundary> Environment::m_originalBoundary

◆ m_positionRes

double Environment::m_positionRes {-1.}

protected

Positional resolution of movement.

◆ m_terrains

TerrainMap Environment::m_terrains

protected

Environment terrains.

◆ m_timeRes

double Environment::m_timeRes {.05}

protected

Resolution for time.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/Environment/Environment.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/Environment/Environment.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Simulation Functions

Physical Properties

Detailed Description

Member Typedef Documentation

◆ TerrainMap

Constructor & Destructor Documentation

◆ Environment() [1/4]

◆ Environment() [2/4]

◆ Environment() [3/4]

◆ Environment() [4/4]

◆ ~Environment()

Member Function Documentation

◆ AddObstacle()

◆ ComputeObstacleVertexMap()

◆ ComputeResolution()

◆ CreateBoundaryObstacle()

◆ GetBoundary()

◆ GetEnvFileName()

◆ GetFrictionCoefficient()

◆ GetGravity()

◆ GetInitialCameraTransformation()

◆ GetObstacle()

◆ GetOrientationRes()

◆ GetPositionRes()

◆ GetRandomObstacle()

◆ GetTerrains()

◆ GetTimeRes()

◆ InitializeBoundary()

◆ IsolateTerrain()

◆ NumObstacles()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Print()

◆ Read()

◆ ReadXML()

◆ ReadXMLOptions()

◆ RemoveObstacle() [1/2]

◆ RemoveObstacle() [2/2]

◆ RestoreBoundary()

◆ SameTerrain()

◆ SaveBoundary()

◆ SetBoundary()

◆ SetOrientationRes()

◆ SetPositionRes()

◆ UsingBoundaryObstacle()

◆ Write()

Field Documentation

◆ m_boundary

◆ m_boundaryObstacle

◆ m_filename

◆ m_frictionCoefficient

◆ m_gravity

◆ m_initialCameraTransform

◆ m_modelDataDir

◆ m_obstacles

◆ m_orientationRes

◆ m_originalBoundary

◆ m_positionRes

◆ m_terrains

◆ m_timeRes