#include <GridOverlay.h>

Public Types
Local Types
enum class	CellSet : unsigned char { Boundary = 1 , Interior = 2 , Closure = 3 }
	The types of cell sets for use with LocateCells. More...

typedef std::vector< std::vector< const WorkspaceRegion * > >	DecompositionMap
	A mapping from a grid cell index to a set of workspace regions. More...

typedef std::array< size_t, 3 >	IndexSet
	A set of X, Y, Z indexes for a grid cell. More...

Public Member Functions
Construction
	GridOverlay (const Boundary *const _b, const double _length)

	~GridOverlay () noexcept

Cell Finders
size_t	Size () const noexcept
	Get the number of cells in the grid. More...

size_t	Size (const size_t _i) const noexcept

size_t	LocateCell (const Cfg &_cfg) const

size_t	LocateCell (const Point3d &_p) const

std::unordered_set< size_t >	LocateCells (const Boundary *const _b, const CellSet _type=CellSet::Closure) const

std::unordered_set< size_t >	LocateCells (const GMSPolyhedron &_polyhedron, const mathtool::Transformation &_transformation={}, const CellSet _type=CellSet::Closure) const

std::unordered_set< size_t >	LocateBBXCells (const Boundary *const _b) const

std::unordered_set< size_t >	LocateBBXCells (const Point3d &_min, const Point3d &_max) const

std::unordered_set< size_t >	LocateFacetNeighbors (const size_t _index) const

std::unordered_set< size_t >	LocateEdgeNeighbors (const size_t _index) const

std::unordered_set< size_t >	LocateVertexNeighbors (const size_t _index) const

std::unordered_set< size_t >	LocateAllNeighbors (const size_t _index) const

Cell Properties
double	CellLength () const noexcept
	Get the length of the grid cells. More...

Point3d	CellCenter (const size_t _index) const noexcept

Decomposition Mapping
DecompositionMap	ComputeDecompositionMap (const WorkspaceDecomposition *const _decomposition, const bool _useCollisionDetection=false) const

Testing
void	Test (const size_t _trials=0) const

Detailed Description

A 3d grid overlay of a given boundary.

The cells are implicitly represented as either a tuple (x,y,z) or a single 'cell index', which enumerates all cells with a single number. The grid is defined over the minimum and maximum ranges of the boundary, so there may be grid cells partially or completely outside of the boundary (depending its shape and size).

Todo:: Generalize to support 2d grids as well as 3d.

Member Typedef Documentation

◆ DecompositionMap

typedef std::vector<std::vector<const WorkspaceRegion*> > GridOverlay::DecompositionMap

A mapping from a grid cell index to a set of workspace regions.

◆ IndexSet

typedef std::array<size_t, 3> GridOverlay::IndexSet

A set of X, Y, Z indexes for a grid cell.

Member Enumeration Documentation

◆ CellSet

enum GridOverlay::CellSet : unsigned char

strong

The types of cell sets for use with LocateCells.

Enumerator
Boundary
Interior
Closure

Constructor & Destructor Documentation

◆ GridOverlay()

GridOverlay::GridOverlay	(	const Boundary *const	_b,
		const double	_length
	)

Construct a grid overlay with cells of a given length.

Parameters

_b	The boundary to overlay.
_length	The cell length to use.

◆ ~GridOverlay()

GridOverlay::~GridOverlay ( )

defaultnoexcept

Member Function Documentation

◆ CellCenter()

Point3d GridOverlay::CellCenter ( const size_t _index ) const

noexcept

Get the center of a cell.

Parameters

_index The cell index.

Returns: The center of cell _index.

◆ CellLength()

double GridOverlay::CellLength ( ) const

noexcept

Get the length of the grid cells.

◆ ComputeDecompositionMap()

GridOverlay::DecompositionMap GridOverlay::ComputeDecompositionMap	(	const WorkspaceDecomposition *const	_decomposition,
		const bool	_useCollisionDetection = `false`
	)		const

Create a map from grid cell index to the set of decomposition regions which are near to or touch the grid cell.

Parameters

_decomposition	The workspace decomposition object to map.
_useCollisionDetection	Use PQP collision detection to refine the test?

Returns: A mapping m, where m[i] gives a set of _decomposition regions. If not using PQP then the regions are those whos BBX touches grid cell i, otherwise the regions actually touch cell i.

◆ LocateAllNeighbors()

std::unordered_set< size_t > GridOverlay::LocateAllNeighbors ( const size_t _index ) const

Locate all neighbors of a cell.

Parameters

_index The cell index.

Returns: The neighbor cell indexes.

◆ LocateBBXCells() [1/2]

std::unordered_set< size_t > GridOverlay::LocateBBXCells ( const Boundary *const _b ) const

Find the cells that contain a given boundary's bounding box.

Parameters

_b	The boundary of interest.

Returns: A set of cell indexes that contain _b's bounding box.

◆ LocateBBXCells() [2/2]

std::unordered_set< size_t > GridOverlay::LocateBBXCells	(	const Point3d &	_min,
		const Point3d &	_max
	)		const

Find the cells that contain a bounding box around two points.

Parameters

_min	The low-range values.
_max	The high-range values.

Returns: A set of cell indexes that contain the bounding box around _min, _max.

◆ LocateCell() [1/2]

size_t GridOverlay::LocateCell ( const Cfg & _cfg ) const

Find the cell that contains the reference point of a configuration.

Parameters

_cfg	The configuration to locate.

Returns: The index of the cell which contains _cfg's translational DOFs.

◆ LocateCell() [2/2]

size_t GridOverlay::LocateCell ( const Point3d & _p ) const

Find the cell that contains a reference point.

Parameters

_p	The point to locate.

Returns: The index of the cell which contains _p.

◆ LocateCells() [1/2]

std::unordered_set< size_t > GridOverlay::LocateCells	(	const Boundary *const	_b,
		const CellSet	_type = `CellSet::Closure`
	)		const

Find the cells that touch a given boundary.

Parameters

_b	The boundary of interest.
_type	The type of cell set to include.

Returns: A set of cell indexes that touch _b as described by _type.

◆ LocateCells() [2/2]

std::unordered_set< size_t > GridOverlay::LocateCells	(	const GMSPolyhedron &	_polyhedron,
		const mathtool::Transformation &	_transformation = `{}`,
		const CellSet	_type = `CellSet::Closure`
	)		const

Find the cells that touch a given polyhedron.

Parameters

_polyhedron	The polyhedron of interest.
_transformation	The transformation for _polyhedron.
_type	The type of cell set to include.

Returns: A set of cell indexes that touch _polyhedron as described by _type.

Todo:: Can make the !_interior version more efficient by computing bbx cells for each facet.

Todo:: Can make both versions more efficient by avoiding re-building the _polyhedron's BBX each time. Add min/max pts and transform them with the poly, use here.

◆ LocateEdgeNeighbors()

std::unordered_set< size_t > GridOverlay::LocateEdgeNeighbors ( const size_t _index ) const

Locate the neighbors of a cell which share an edge but not a facet.

Parameters

_index The cell index.

Returns: The neighbor cell indexes.

◆ LocateFacetNeighbors()

std::unordered_set< size_t > GridOverlay::LocateFacetNeighbors ( const size_t _index ) const

Locate the neighbors of a cell which share a facet.

Parameters

_index The cell index.

Returns: The neighbor cell indexes.

◆ LocateVertexNeighbors()

std::unordered_set< size_t > GridOverlay::LocateVertexNeighbors ( const size_t _index ) const

Locate the neighbors of a cell which share a vertex but not an edge or facet.

Parameters

_index The cell index.

Returns: The neighbor cell indexes.

◆ Size() [1/2]

size_t GridOverlay::Size ( ) const

noexcept

Get the number of cells in the grid.

◆ Size() [2/2]

size_t GridOverlay::Size ( const size_t _i ) const

noexcept

Get the number of cells in a given dimension.

Parameters

_i	The index for the dimension of interest.

Returns: The number of cells in dimension _i.

◆ Test()

void GridOverlay::Test ( const size_t _trials = 0 ) const

Test this object.

Parameters

_trials Sample this number of grid cells to test. Or, use zero to test all cells.

Exceptions

If	the test fails.

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

/opt/actions-runner/_work/open-ppl/open-ppl/src/Workspace/GridOverlay.h
/opt/actions-runner/_work/open-ppl/open-ppl/src/Workspace/GridOverlay.cpp

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ DecompositionMap

◆ IndexSet

Member Enumeration Documentation

◆ CellSet

Constructor & Destructor Documentation

◆ GridOverlay()

◆ ~GridOverlay()

Member Function Documentation

◆ CellCenter()

◆ CellLength()

◆ ComputeDecompositionMap()

◆ LocateAllNeighbors()

◆ LocateBBXCells() [1/2]

◆ LocateBBXCells() [2/2]

◆ LocateCell() [1/2]

◆ LocateCell() [2/2]

◆ LocateCells() [1/2]

◆ LocateCells() [2/2]

◆ LocateEdgeNeighbors()

◆ LocateFacetNeighbors()

◆ LocateVertexNeighbors()

◆ Size() [1/2]

◆ Size() [2/2]

◆ Test()