WorkspaceBoundingSphere Class Reference

A 2 or 3 dimensional bounding sphere in workspace. More...

#include <WorkspaceBoundingSphere.h>

Inheritance diagram for WorkspaceBoundingSphere:

Collaboration diagram for WorkspaceBoundingSphere:

Public Member Functions
Construction
	WorkspaceBoundingSphere (const size_t _n, const double _radius=std::numeric_limits< double >::max())
	WorkspaceBoundingSphere (const std::vector< double > &_center, const double _radius=std::numeric_limits< double >::max())
	WorkspaceBoundingSphere (const Vector3d &_center, const double _radius=std::numeric_limits< double >::max())
	WorkspaceBoundingSphere (XMLNode &_node)
virtual	~WorkspaceBoundingSphere () 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 &_cfg) 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
Polyhedron Representations
virtual GMSPolyhedron	MakePolyhedron () const override
	This will be an approximate sphere with 480 faces. More...
Public Member Functions inherited from AbstractBoundingSphere
	AbstractBoundingSphere (const size_t _n, const double _radius=std::numeric_limits< double >::max())
	AbstractBoundingSphere (const std::vector< double > &_center, const double _radius=std::numeric_limits< double >::max())
	AbstractBoundingSphere (XMLNode &_node)
virtual	~AbstractBoundingSphere () noexcept
virtual size_t	GetDimension () const noexcept override
	Get the dimension of this boundary. More...
virtual double	GetMaxDist (const double _r1=2.0, const double _r2=0.5) 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...
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
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 CGALPolyhedron	CGAL () const
	Create a CGAL polyhedron representation of this. More...
virtual	~Boundary () noexcept
Public Member Functions inherited from NSphere
	NSphere (const size_t _n, const double _r=std::numeric_limits< double >::max())
	NSphere (const std::vector< double > &_center, const double _r=std::numeric_limits< double >::max())
virtual	~NSphere () noexcept
size_t	GetDimension () const noexcept
	Get the dimension of this sphere. More...
void	SetCenter (const std::vector< double > &_c) noexcept
const std::vector< double > &	GetCenter () const noexcept
	Get the center point. More...
double	GetRadius () const noexcept
	Get the radius. More...
void	SetRadius (const double _r) noexcept
	Set the radius. More...
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 (std::vector< double > _p) const noexcept
std::vector< double >	ClearancePoint (std::vector< double > _p) const noexcept
std::vector< double >	Sample () const

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 2 or 3 dimensional bounding sphere in workspace.

Constructor & Destructor Documentation

WorkspaceBoundingSphere() [1/4]

WorkspaceBoundingSphere::WorkspaceBoundingSphere ( const size_t  _n, const double  _radius = std::numeric_limits<double>::max()  )

explicit

WorkspaceBoundingSphere() [2/4]

WorkspaceBoundingSphere::WorkspaceBoundingSphere ( const std::vector< double > &  _center, const double  _radius = std::numeric_limits<double>::max()  )

explicit

WorkspaceBoundingSphere() [3/4]

WorkspaceBoundingSphere::WorkspaceBoundingSphere ( const Vector3d &  _center, const double  _radius = std::numeric_limits<double>::max()  )

explicit

WorkspaceBoundingSphere() [4/4]

WorkspaceBoundingSphere::WorkspaceBoundingSphere

(

XMLNode &

_node

)

~WorkspaceBoundingSphere()

WorkspaceBoundingSphere::~WorkspaceBoundingSphere ( )

virtualdefaultnoexcept

Member Function Documentation

Clone()

std::unique_ptr< Boundary > WorkspaceBoundingSphere::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]

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() [2/4]

bool WorkspaceBoundingSphere::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() [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 WorkspaceBoundingSphere::MakePolyhedron ( ) const

overridevirtual

This will be an approximate sphere with 480 faces.

Reimplemented from Boundary.

Name()

std::string WorkspaceBoundingSphere::Name ( ) const

overridevirtualnoexcept

Get the name of the boundary type.

Implements Boundary.

Type()

Boundary::Space WorkspaceBoundingSphere::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/WorkspaceBoundingSphere.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Boundaries/WorkspaceBoundingSphere.cpp