A simple CSpace that lets you add geometric obstacles as blocked off grid cells. More...
#include <Grid2DCSpace.h>
Inheritance diagram for Grid2DCSpace:
Public Member Functions | |
| Grid2DCSpace (int m, int n, const AABB2D &domain) | |
| void | WorldToGrid (const Vector2 &world, Vector2 &grid) |
| void | GridToWorld (const Vector2 &grid, Vector2 &world) |
| void | Add (const Triangle2D &tri, bool obstacle=true) |
| void | Add (const AABB2D &bbox, bool obstacle=true) |
| void | Add (const Circle2D &sphere, bool obstacle=true) |
| void | Rasterize (CSpace *space) |
| void | DrawGL () |
| virtual void | SampleNeighborhood (const Config &c, Real r, Config &x) |
| virtual EdgePlannerPtr | PathChecker (const InterpolatorPtr &b) |
| virtual Real | Distance (const Config &x, const Config &y) |
| optionally overrideable (default uses euclidean space) | |
 Public Member Functions inherited from BoxCSpace | |
| BoxCSpace (Real xmin, Real xmax, int d=1) | |
| BoxCSpace (const Vector &bmin, const Vector &bmax) | |
| void | SetDomain (const Vector &bmin, const Vector &bmax) |
| void | GetDomain (Vector &bmin, Vector &bmax) |
| virtual EdgePlannerPtr | PathChecker (const Config &a, const Config &b) |
| virtual void | Sample (Config &x) |
| virtual bool | ProjectFeasible (Config &x) |
| virtual void | Properties (PropertyMap &) |
| Returns properties of the space that might be useful for planners. More... | |
| Public Member Functions inherited from CartesianCSpace | |
| CartesianCSpace (int d) | |
| virtual int | NumDimensions () |
| virtual void | Interpolate (const Config &x, const Config &y, Real u, Config &out) |
| virtual void | Midpoint (const Config &x, const Config &y, Config &out) |
| Public Member Functions inherited from CSpace | |
| void | AddConstraint (const std::string &name, CSet *constraint) |
| void | AddConstraint (const std::string &name, const std::shared_ptr< CSet > &constraint) |
| void | AddConstraint (const std::string &name, CSet::CPredicate test) |
| void | CopyConstraints (const CSpace *space, const std::string &prefix="") |
| virtual std::string | VariableName (int i) |
| virtual int | NumConstraints () |
| virtual std::string | ConstraintName (int i) |
| virtual std::shared_ptr< CSet > | Constraint (int i) |
| virtual bool | IsFeasible (const Config &) |
| virtual bool | IsFeasible (const Config &, int constraint) |
| virtual EdgePlannerPtr | LocalPlanner (const Config &a, const Config &b) |
| virtual EdgePlannerPtr | PathChecker (const Config &a, const Config &b, int constraint) |
| virtual Optimization::NonlinearProgram * | FeasibleNumeric () |
| If possible, give the feasible set as a nonlinear program. | |
| virtual Real | ObstacleDistance (const Config &a) |
| for local planners using obstacle distance | |
| virtual void | CheckConstraints (const Config &, std::vector< bool > &satisfied) |
| Returns a vector indicating which constraints are satisfied. | |
| void | GetFeasibleNames (const Config &q, std::vector< std::string > &names) |
| Gets a list of feasible obstacles for the given configuration. | |
| void | GetInfeasibleNames (const Config &q, std::vector< std::string > &names) |
| Gets a list of infeasible obstacles for the given configuration. | |
| void | PrintInfeasibleNames (const Config &q, std::ostream &out=std::cout, const char *prefix="", const char *suffix="\n") |
| Prints out the list of infeasible obstacles for the given configuration. | |
| Public Member Functions inherited from GeodesicSpace | |
| virtual int | NumIntrinsicDimensions () |
| virtual void | InterpolateDeriv (const Config &a, const Config &b, Real u, Vector &dx) |
| virtual void | InterpolateDerivA (const Config &a, const Config &b, Real u, const Vector &da, Vector &dx) |
| virtual void | InterpolateDerivB (const Config &a, const Config &b, Real u, const Vector &db, Vector &dx) |
| virtual void | InterpolateDeriv2 (const Config &a, const Config &b, Real u, Vector &ddx) |
| virtual void | Integrate (const Config &a, const Vector &da, Config &b) |
Public Attributes | |
| bool | euclideanSpace |
| std::shared_ptr< Tabular2DSet > | occupied |
| Public Attributes inherited from BoxCSpace | |
| Vector | bmin |
| The domain. NOTE: modifing these does not directly affect the constraints! Use SetDomain instead. | |
| Vector | bmax |
| Public Attributes inherited from CartesianCSpace | |
| int | d |
| Public Attributes inherited from CSpace | |
| std::vector< std::string > | constraintNames |
| std::vector< std::shared_ptr< CSet > > | constraints |
Detailed Description
A simple CSpace that lets you add geometric obstacles as blocked off grid cells.
Can use euclidean or Linf metric, configured by euclideanSpace.
The documentation for this class was generated from the following files:
- Grid2DCSpace.h
- Grid2DCSpace.cpp
