Implements a distribution as required by Informed RRT*. More...
#include <RobotComponents/components/MotionPlanning/util/Samplers.h>
Public Member Functions | |
| template<class T = std::size_t> | |
| T | getDimensionality () const |
| Returns the distributions dimensionality. More... | |
| RealType | getVolume () const |
| Returns the distributions volume. More... | |
| bool | isInBounds (const RealType *first) const |
| Returns whether [first, first + dimensionality) is a point contained by the prolate hyper spheroid and the cuboid. More... | |
| template<class Generator > | |
| void | operator() (RealType *first, Generator &gen) |
| Fills [first, first + dimensionality) with a uniform sample of the intersection of the prolate hyper spheroid and cuboid space. More... | |
| bool | setMaximalCost (RealType max) |
| Sets the maximal cost to max if the current maximal cost is higher. More... | |
| template<class ValIter , class BoundsIter > | |
| UniformInformedProlateSpheroidDistribution (BoundsIter boundsFirst, BoundsIter boundsLast, ValIter focalAFirst, ValIter focalALast, ValIter focalBFirst) | |
| Constructs a uniform informed distribution containing a cuboid distribution (with the bounds [boundsFirst, boundsLast)) and a prolate hyper spheroid distribution (with the focal points [focalAFirst, focalALast) and [focalBFirst, focalBFirst + distance(focalAFirst, focalALast))). More... | |
| template<class ValIter , class BoundsIter > | |
| UniformInformedProlateSpheroidDistribution (BoundsIter boundsFirst, BoundsIter boundsLast, ValIter focalAFirst, ValIter focalALast, ValIter focalBFirst, const std::vector< RealType > &rotationMatrix) | |
| Constructs a uniform informed distribution containing a cuboid distribution (with the bounds [boundsFirst, boundsLast)) and a prolate hyper spheroid distribution (with the focal points [focalAFirst, focalALast) and [focalBFirst, focalBFirst + distance(focalAFirst, focalALast)) and the given rotation matrix). More... | |
Protected Attributes | |
| RealType | cMax |
| The current maximal cost. More... | |
| UniformCuboidDistribution< RealType > | cuboidDistribution |
| The cuboid's distribution. More... | |
| UniformProlateSpheroidDistribution< RealType > | spheroidDistribution |
| The prolate hyper spheroid's distribution. More... | |
Detailed Description
template<class RealType = float>
class armarx::UniformInformedProlateSpheroidDistribution< RealType >
Implements a distribution as required by Informed RRT*.
(as described in DOI>10.1109/IROS.2014.6942976)
Definition at line 626 of file Samplers.h.
Constructor & Destructor Documentation
◆ UniformInformedProlateSpheroidDistribution() [1/2]
|
inline |
Constructs a uniform informed distribution containing a cuboid distribution (with the bounds [boundsFirst, boundsLast)) and a prolate hyper spheroid distribution (with the focal points [focalAFirst, focalALast) and [focalBFirst, focalBFirst + distance(focalAFirst, focalALast)) and the given rotation matrix).
- Parameters
-
boundsFirst The bounds for the first dimension. boundsLast One past the bounds for the last dimension. focalAFirst The first value of the first focal point. focalALast One past the last value of the first focal point. focalBFirst The first value of the second focal point. rotationMatrix The used rotation matrix (the values should be ordered to be conform with eigens mapping of matrices to vectors. (as defined by Eigen::Map<Eigen::Matrix<RealType, dimensionality, dimensionality>>)
Definition at line 642 of file Samplers.h.
◆ UniformInformedProlateSpheroidDistribution() [2/2]
|
inline |
Constructs a uniform informed distribution containing a cuboid distribution (with the bounds [boundsFirst, boundsLast)) and a prolate hyper spheroid distribution (with the focal points [focalAFirst, focalALast) and [focalBFirst, focalBFirst + distance(focalAFirst, focalALast))).
- Parameters
-
boundsFirst The bounds for the first dimension. boundsLast One past the bounds for the last dimension. focalAFirst The first value of the first focal point. focalALast One past the last value of the first focal point. focalBFirst The first value of the second focal point.
Definition at line 669 of file Samplers.h.
Member Function Documentation
◆ getDimensionality()
|
inline |
Returns the distributions dimensionality.
- Returns
- The distributions dimensionality.
Definition at line 763 of file Samplers.h.
◆ getVolume()
|
inline |
Returns the distributions volume.
It is the minimum of the prolate hyper spheroid's and the cuboid's volumes.
- Returns
- The distributions volume.
Definition at line 752 of file Samplers.h.
Here is the call graph for this function:◆ isInBounds()
|
inline |
Returns whether [first, first + dimensionality) is a point contained by the prolate hyper spheroid and the cuboid.
- Parameters
-
first The first value of the point to check.
- Returns
- Whether [first, first + dimensionality) is a point contained by the prolate hyper spheroid and the cuboid.
Definition at line 773 of file Samplers.h.
◆ operator()()
|
inline |
Fills [first, first + dimensionality) with a uniform sample of the intersection of the prolate hyper spheroid and cuboid space.
- Parameters
-
first The first value to fill. gen The used generator.
Definition at line 690 of file Samplers.h.
◆ setMaximalCost()
|
inline |
Sets the maximal cost to max if the current maximal cost is higher.
- Parameters
-
max The new maximal cost to set.
- Returns
- Whether the new cost was lower than the old cost.
Definition at line 725 of file Samplers.h.
Here is the call graph for this function:Member Data Documentation
◆ cMax
|
protected |
The current maximal cost.
Definition at line 790 of file Samplers.h.
◆ cuboidDistribution
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protected |
The cuboid's distribution.
Definition at line 786 of file Samplers.h.
◆ spheroidDistribution
|
protected |
The prolate hyper spheroid's distribution.
Definition at line 782 of file Samplers.h.
The documentation for this class was generated from the following file:
- RobotComponents/components/MotionPlanning/util/Samplers.h
