PointConstruction Class Reference

#include <PointConstruction.h>

Inheritance diagram for PointConstruction:

Collaboration diagram for PointConstruction:

Public Member Functions
	PointConstruction ()
	PointConstruction (XMLNode &_node)
virtual void	Initialize () override
template<size_t D>
Vector< double, D >	SampleSphereSurface (Vector< double, D > center, Vector< double, D > bounds)
template<size_t D>
std::vector< Vector< double, D > >	SampleSphereSurface (Vector< double, D > center, Vector< double, D > bounds, int nsamples)
template<size_t D>
std::vector< Vector< double, D > >	SampleSphereSurface (Vector< double, D > center, double bounds, int nsamples)
double	NormalDistribution (double mean, double variance)
Public Member Functions inherited from MPBaseObject
	MPBaseObject (const std::string &_label="", const std::string &_name="", bool _debug=false)
	MPBaseObject (XMLNode &_node)
virtual	~MPBaseObject ()
virtual void	Print (std::ostream &_os) const
const std::string &	GetName () const
	Get the class name for this object. More...
const std::string &	GetLabel () const
	Get the unique label for this object. More...
std::string	GetNameAndLabel () const
	Get the unique string identifier for this object "m_name::m_label". More...
void	SetLabel (const std::string &)
	Set the unique label for this object. More...
void	SetMPLibrary (MPLibrary *) noexcept
	Set the owning MPLibrary. More...
MPLibrary *	GetMPLibrary () const noexcept
	Get the owning MPLibrary. More...
bool	IsRunning () const noexcept
	Check the library's running flag. More...
MPProblem *	GetMPProblem () const noexcept
	Get the library's current MPProblem. More...
Environment *	GetEnvironment () const noexcept
	Get the current environment. More...
MPTask *	GetTask () const noexcept
	Get the current task. More...
GroupTask *	GetGroupTask () const noexcept
	Get the current group task. More...
MPSolutionType *	GetMPSolution () const noexcept
RoadmapType *	GetRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current free-space roadmap. More...
GroupRoadmapType *	GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
	Get the current free-space group roadmap. More...
RoadmapType *	GetBlockRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current obstacle-space roadmap. More...
Path *	GetPath (Robot *const _r=nullptr) const noexcept
GroupPath *	GetGroupPath (RobotGroup *const _g=nullptr) const noexcept
	Get the current best group path. More...
StatClass *	GetStatClass () const noexcept
	Get the current StatClass. More...
LocalObstacleMap *	GetLocalObstacleMap () const noexcept
	Get the local obstacle map. More...

Additional Inherited Members
Public Types inherited from MPBaseObject
typedef DefaultWeight< Cfg >	WeightType
typedef GenericStateGraph< Cfg, WeightType >	RoadmapType
typedef GroupCfg< RoadmapType >	GroupCfgType
typedef GroupLocalPlan< RoadmapType >	GroupWeightType
typedef GroupRoadmap< GroupCfgType, GroupWeightType >	GroupRoadmapType
Protected Member Functions inherited from MPBaseObject
void	SetName (const std::string &_s)
const std::string &	GetBaseFilename () const
Protected Attributes inherited from MPBaseObject
bool	m_debug
	Print debug info? More...

Constructor & Destructor Documentation

PointConstruction() [1/2]

PointConstruction::PointConstruction

(

)

PointConstruction() [2/2]

PointConstruction::PointConstruction

(

XMLNode &

_node

)

Member Function Documentation

Initialize()

void PointConstruction::Initialize ( )

overridevirtual

Initialize this object for the current MPProblem. This should reset any internal state of the algorithms so that they are ready for execution. It is also the place to initialize any state that depends on the current problem.

Warning

This member will be called for every compiled algorithm in the planning library - even those that will not be used. If an algorithm needs to do expenisve setup, then this method should only set a flag that tells it to do so on first use. The only exceptions are the MPStrategies, which will only have their initialize called on first use.

Reimplemented from MPBaseObject.

NormalDistribution()

double PointConstruction::NormalDistribution	(	double	mean,
		double	variance
	)

Sample in a normal distribution. TODO: Move this somewhere else.

SampleSphereSurface() [1/3]

template<size_t D>

std::vector< Vector< double, D > > PointConstruction::SampleSphereSurface	(	Vector< double, D >	center,
		double	bounds,
		int	nsamples
	)

SampleSphereSurface() [2/3]

template<size_t D>

Vector< double, D > PointConstruction::SampleSphereSurface	(	Vector< double, D >	center,
		Vector< double, D >	bounds
	)

Sample on the surface of a sphere. (uses PMPL-defined Vector in mathtools) Note: this does not sample INSIDE the sphere.

Parameters

center	The D-dimensional Vector at which the sphere is centered.
bounds	The amount of distance in each dimension from the center to the surface of the sphere. In other words, bounds in each dimension if sphere is centered at (0, 0, ..., 0). When argument is a double, assume all bounds same distance (hypersphere with radius=bound)
nsamples	The number of samples on the sphere surface.

SampleSphereSurface() [3/3]

template<size_t D>

std::vector< Vector< double, D > > PointConstruction::SampleSphereSurface	(	Vector< double, D >	center,
		Vector< double, D >	bounds,
		int	nsamples
	)

---

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPTools/PointConstruction.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPLibrary/MPTools/PointConstruction.cpp