Takes an other cspace and scales its' dimensions. More...

#include <RobotComponents/components/MotionPlanning/CSpace/ScaledCSpace.h>

Inheritance diagram for ScaledCSpace:

Public Member Functions
CSpaceBasePtr	clone (const Ice::Current &=Ice::emptyCurrent) override

Ice::Long	getDimensionality (const Ice::Current &=Ice::emptyCurrent) const override

FloatRangeSeq	getDimensionsBounds (const Ice::Current &=Ice::emptyCurrent) const override

Ice::FloatSeq	getScalingFactors (const ::Ice::Current &=Ice::emptyCurrent) override

void	initCollisionTest (const Ice::Current &=Ice::emptyCurrent) override
	Initializes the collision check. More...

bool	isCollisionFree (const ::std::pair< const Ice::Float , const Ice::Float > &cfg, const Ice::Current &=Ice::emptyCurrent) override

bool	isCollisionFree (const ::std::pair< const Ice::Float , const Ice::Float > &config, const Ice::Current &=Ice::emptyCurrent) override=0

virtual bool	isCollisionFree (const Ice::Float first, const Ice::Float last)

virtual bool	isCollisionFree (const VectorXf &config)

virtual void	scaleConfig (VectorXf &config) const

	ScaledCSpace (const CSpaceBasePtr &cspace, const Ice::FloatSeq &scale)
	ctor. More...

virtual void	scalePath (Path &path) const

virtual void	unscaleConfig (VectorXf &config) const

virtual void	unscalePath (Path &path) const

virtual void	unscalePath (PathWithCost &path) const

virtual void	unscalePath (VectorXfSeq &nodes) const

Public Member Functions inherited from CSpaceAdaptor
	CSpaceAdaptor (CSpaceBasePtr originalCSpace)

CSpaceBasePtr	getOriginalCSpace (const Ice::Current &=Ice::emptyCurrent) const override

Public Member Functions inherited from CSpace
void	initCollisionTest (const Ice::Current &=Ice::emptyCurrent) override
	Initializes collision checking. More...

virtual bool	isCollisionFree (const Ice::Float first, const Ice::Float last)

virtual bool	isCollisionFree (const VectorXf &config)

bool	isValidConfiguration (const ::std::pair< const Ice::Float , const Ice::Float > &config, const Ice::Current &=Ice::emptyCurrent) const override

virtual bool	isValidConfiguration (const VectorXf &config) const

virtual bool	usesInternalScaling ()

Protected Member Functions
	ScaledCSpace ()=default
	Default ctor. More...

void	unscaleToBuffer (const Ice::Float *cfg, VectorXf &buffer) const
	Unscales the given configuration to a buffer. More...

Protected Member Functions inherited from CSpaceAdaptor
	CSpaceAdaptor ()=default

Friends
template<class IceBaseClass , class DerivedClass >
class	armarx::GenericFactory

Detailed Description

Takes an other cspace and scales its' dimensions.

Can be used when lage translations and rotations are planned at the same time.

Definition at line 43 of file ScaledCSpace.h.

Constructor & Destructor Documentation

◆ ScaledCSpace() [1/2]

ScaledCSpace	(	const CSpaceBasePtr &	cspace,
		const Ice::FloatSeq &	scale
	)

ctor.

Parameters

cspace	The cspace to scale.
scale	The dimensions' scaling factors.

Definition at line 34 of file ScaledCSpace.cpp.

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◆ ScaledCSpace() [2/2]

ScaledCSpace ( )

protecteddefault

Default ctor.

Used for ice factories.

Member Function Documentation

◆ clone()

CSpaceBasePtr clone ( const Ice::Current & = Ice::emptyCurrent )

overridevirtual

Returns: A clone of this object.

Implements CSpace.

Definition at line 108 of file ScaledCSpace.cpp.

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◆ getDimensionality()

Ice::Long getDimensionality ( const Ice::Current & = Ice::emptyCurrent ) const

inlineoverride

Returns: The cspace's dimensionality.

Definition at line 108 of file ScaledCSpace.h.

◆ getDimensionsBounds()

FloatRangeSeq getDimensionsBounds ( const Ice::Current & = Ice::emptyCurrent ) const

override

Returns: The cspace's dimensions.

Definition at line 116 of file ScaledCSpace.cpp.

◆ getScalingFactors()

Ice::FloatSeq getScalingFactors ( const ::Ice::Current & = Ice::emptyCurrent )

inlineoverride

Returns: The dimensions' scaling factors.

Definition at line 60 of file ScaledCSpace.h.

◆ initCollisionTest()

void initCollisionTest ( const Ice::Current & = Ice::emptyCurrent )

inlineoverride

Initializes the collision check.

Definition at line 88 of file ScaledCSpace.h.

◆ isCollisionFree() [1/4]

bool isCollisionFree	(	const ::std::pair< const Ice::Float , const Ice::Float > &	cfg,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

overridevirtual

Parameters

cfg	The configuration to check.

Returns: Checks whether the given configuration is collision free.

Implements CSpace.

Definition at line 101 of file ScaledCSpace.cpp.

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◆ isCollisionFree() [2/4]

bool isCollisionFree

override

Parameters

config The config to check.

Returns: Whether the given configuration is collision free.

◆ isCollisionFree() [3/4]

virtual bool isCollisionFree

inline

Parameters

first	The configuration's first element.
last	The configuration's last element.

Returns: Whether the given configuration [first,last) is collision free.

Definition at line 87 of file CSpace.h.

◆ isCollisionFree() [4/4]

virtual bool isCollisionFree

inline

Parameters

config The config to check. (as armarx::VectorXf)

Returns: Whether the given configuration is collision free.

Definition at line 105 of file CSpace.h.

◆ scaleConfig()

void scaleConfig ( VectorXf & config ) const

virtual

Definition at line 84 of file ScaledCSpace.cpp.

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◆ scalePath()

void scalePath ( Path & path ) const

virtual

Definition at line 93 of file ScaledCSpace.cpp.

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◆ unscaleConfig()

void unscaleConfig ( VectorXf & config ) const

virtual

Parameters

cfg	The configuration.

Returns: Returns the unscaled version of the configuration.

Definition at line 60 of file ScaledCSpace.cpp.

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◆ unscalePath() [1/3]

void unscalePath ( Path & path ) const

virtual

Definition at line 66 of file ScaledCSpace.cpp.

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◆ unscalePath() [2/3]

void unscalePath ( PathWithCost & path ) const

virtual

Definition at line 71 of file ScaledCSpace.cpp.

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◆ unscalePath() [3/3]

void unscalePath ( VectorXfSeq & nodes ) const

virtual

Definition at line 76 of file ScaledCSpace.cpp.

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◆ unscaleToBuffer()

void unscaleToBuffer	(	const Ice::Float *	cfg,
		VectorXf &	buffer
	)		const

protected

Unscales the given configuration to a buffer.

Parameters

cfg	The scaled configuration.
buffer	The buffer to fill.

Definition at line 129 of file ScaledCSpace.cpp.

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Friends And Related Function Documentation

◆ armarx::GenericFactory

friend class armarx::GenericFactory

friend

Definition at line 114 of file ScaledCSpace.h.

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

RobotComponents/components/MotionPlanning/CSpace/ScaledCSpace.h
RobotComponents/components/MotionPlanning/CSpace/ScaledCSpace.cpp

Public Member Functions

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ScaledCSpace() [1/2]

◆ ScaledCSpace() [2/2]

Member Function Documentation

◆ clone()

◆ getDimensionality()

◆ getDimensionsBounds()

◆ getScalingFactors()

◆ initCollisionTest()

◆ isCollisionFree() [1/4]

◆ isCollisionFree() [2/4]

◆ isCollisionFree() [3/4]

◆ isCollisionFree() [4/4]

◆ scaleConfig()

◆ scalePath()

◆ unscaleConfig()

◆ unscalePath() [1/3]

◆ unscalePath() [2/3]

◆ unscalePath() [3/3]

◆ unscaleToBuffer()

Friends And Related Function Documentation

◆ armarx::GenericFactory