WorkspaceBoundingBox Class Reference

A two or three dimensional bounding box in workspace. More...

#include <WorkspaceBoundingBox.h>

Inheritance diagram for WorkspaceBoundingBox:

Collaboration diagram for WorkspaceBoundingBox:

Public Member Functions
Construction
	WorkspaceBoundingBox (const size_t _n)
	WorkspaceBoundingBox (const std::vector< double > &_center)
	WorkspaceBoundingBox (XMLNode &_node)
virtual	~WorkspaceBoundingBox () noexcept
virtual std::unique_ptr< Boundary >	Clone () const override
Property Accessors
virtual Boundary::Space	Type () const noexcept override
	Get the space type. More...
virtual std::string	Name () const noexcept override
	Get the name of the boundary type. More...
Containment Testing
virtual bool	InBoundary (const Cfg &_c) const override
virtual bool	InBoundary (const Vector3d &_p) const
virtual bool	InBoundary (const std::vector< double > &_v) const=0
virtual bool	InBoundary (const Cfg &_c) const=0
Public Member Functions inherited from AbstractBoundingBox
virtual size_t	GetDimension () const noexcept override
	Get the dimension of this boundary. More...
virtual double	GetMaxDist (const double _r1=2., const double _r2=.5) const override
virtual const Range< double > &	GetRange (const size_t _i) const override
virtual const std::vector< double > &	GetCenter () const noexcept override
	Get the boundary's center point. More...
virtual double	GetVolume () const noexcept override
	Get the boundary's volume (Lebesgue Measure). More...
	AbstractBoundingBox (const size_t _n)
	AbstractBoundingBox (const std::vector< double > &_center)
	AbstractBoundingBox (XMLNode &_node)
virtual	~AbstractBoundingBox () noexcept
virtual std::vector< double >	GetRandomPoint () const override
	Get a random point inside the boundary. More...
virtual void	PushInside (std::vector< double > &_sample) const noexcept override
virtual bool	InBoundary (const std::vector< double > &_p) const override
virtual bool	InBoundary (const Vector3d &_p) const
virtual bool	InBoundary (const std::vector< double > &_v) const=0
virtual bool	InBoundary (const Cfg &_c) const=0
virtual double	GetClearance (const Vector3d &_p) const override
virtual Vector3d	GetClearancePoint (const Vector3d &_p) const override
int	GetSideID (const std::vector< double > &_p) const
virtual void	SetCenter (const std::vector< double > &_c) noexcept override
virtual void	Translate (const Vector3d &_v) override
virtual void	Translate (const std::vector< double > &_t) override
virtual void	ResetBoundary (const std::vector< std::pair< double, double >> &_bbx, const double _margin) override
virtual void	Read (std::istream &_is, CountingStreamBuffer &_cbs) override
virtual void	Write (std::ostream &_os) const override
Public Member Functions inherited from Boundary
virtual void	ScalePoint (std::vector< double > &_point) const noexcept
virtual void	UnscalePoint (std::vector< double > &_point) const noexcept
virtual bool	InBoundary (const Vector3d &_p) const
virtual	~Boundary () noexcept
Public Member Functions inherited from NBox
	NBox (const size_t _n)
	NBox (const std::vector< double > &_center)
virtual	~NBox () noexcept
size_t	GetDimension () const noexcept
	Get the dimension of this box. More...
void	SetCenter (const std::vector< double > &_c) noexcept
	Set the center point. More...
const std::vector< double > &	GetCenter () const noexcept
	Get the center point. More...
const Range< double > &	GetRange (const size_t _i) const noexcept
const std::vector< Range< double > > &	GetRanges () const noexcept
	Get all of the ranges. More...
void	SetRange (const size_t _i, const Range< double > &_r) noexcept
void	SetRange (const size_t _i, Range< double > &&_r) noexcept
void	SetRange (const size_t _i, const double _min, const double _max) noexcept
void	Translate (const std::vector< double > &_v) noexcept
double	GetVolume () const noexcept
	Compute the (hyper)volume or Lebesgue measure. More...
bool	Contains (const std::vector< double > &_p) const noexcept
double	Clearance (const std::vector< double > &_p) const noexcept
std::vector< double >	ClearancePoint (std::vector< double > _p) const noexcept
std::vector< double >	Sample () const
	Sample a random point in the box with uniform probability. More...

Polyhedron Representations
virtual CGALPolyhedron	CGAL () const override
	Create a CGAL polyhedron representation of this. More...
virtual GMSPolyhedron	MakePolyhedron () const override
typedef CGAL::Polyhedron_3< CGALKernel >	CGALPolyhedron

Additional Inherited Members
Public Types inherited from Boundary
enum	Space { Workspace , CSpace }
	The types of space that can be modeled with boundaries. More...
typedef CGAL::Exact_predicates_exact_constructions_kernel	CGALKernel
typedef CGAL::Polyhedron_3< CGALKernel >	CGALPolyhedron
Static Public Member Functions inherited from Boundary
static std::unique_ptr< Boundary >	Factory (XMLNode &_node)
Protected Member Functions inherited from Boundary
bool	InWorkspace (const Cfg &_c) const
bool	InCSpace (const Cfg &_c) const

Detailed Description

A two or three dimensional bounding box in workspace.

Member Typedef Documentation

CGALPolyhedron

typedef CGAL::Polyhedron_3<CGALKernel> Boundary::CGALPolyhedron

Constructor & Destructor Documentation

WorkspaceBoundingBox() [1/3]

WorkspaceBoundingBox::WorkspaceBoundingBox ( const size_t  _n )

explicit

WorkspaceBoundingBox() [2/3]

WorkspaceBoundingBox::WorkspaceBoundingBox ( const std::vector< double > &  _center )

explicit

WorkspaceBoundingBox() [3/3]

WorkspaceBoundingBox::WorkspaceBoundingBox

(

XMLNode &

_node

)

~WorkspaceBoundingBox()

WorkspaceBoundingBox::~WorkspaceBoundingBox ( )

virtualdefaultnoexcept

Member Function Documentation

CGAL()

Boundary::CGALPolyhedron WorkspaceBoundingBox::CGAL ( ) const

overridevirtual

Create a CGAL polyhedron representation of this.

Reimplemented from Boundary.

Clone()

std::unique_ptr< Boundary > WorkspaceBoundingBox::Clone ( ) const

overridevirtual

Duplicate this boundary and return a dynamically-allocated copy with the same type. This is provided in the base class so that we can copy a boundary object without knowing its type.

Returns

A dynamically-allocated copy of this with the same type.

Implements Boundary.

InBoundary() [1/4]

bool WorkspaceBoundingBox::InBoundary ( const Cfg &  _c ) const

overridevirtual

Test if a configuration lies within the boundary.

Parameters

_cfg	The configuration to test.

Returns

True if the configuration is considered to lie inside the boundary.

Implements Boundary.

InBoundary() [2/4]

virtual bool Boundary::InBoundary

Test if a configuration lies within the boundary.

Parameters

_cfg	The configuration to test.

Returns

True if the configuration is considered to lie inside the boundary.

InBoundary() [3/4]

virtual bool Boundary::InBoundary

Test if a specific n-dimensional point lies within the boundary.

Parameters

_v	The point to test.

Returns

True if _v lies inside this boundary.

InBoundary() [4/4]

bool Boundary::InBoundary

Test if a specific point lies within the boundary.

Parameters

_p	The point to test.

Returns

True if _p lies inside this boundary.

MakePolyhedron()

GMSPolyhedron WorkspaceBoundingBox::MakePolyhedron ( ) const

overridevirtual

Create a GMSPolyhedron representation of this. The polyhedron will be inside-out (normals facing inward) to properly represent the contact normals.

Reimplemented from Boundary.

Name()

std::string WorkspaceBoundingBox::Name ( ) const

overridevirtualnoexcept

Get the name of the boundary type.

Implements Boundary.

Type()

Boundary::Space WorkspaceBoundingBox::Type ( ) const

overridevirtualnoexcept

Get the space type.

Implements Boundary.

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Boundaries/WorkspaceBoundingBox.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Boundaries/WorkspaceBoundingBox.cpp