Uniform distribution of a prolate hyper spheroid. More...

#include <RobotComponents/components/MotionPlanning/util/Samplers.h>

Public Member Functions
template<class T = std::size_t>
T	getDimensionality () const
	Returns the dimensionality of the distribution. More...

RealType	getDistanceFocalPoints () const
	Returns the distance between the prolate hyper spheroid's focal points. More...

RealType	getPolarDiameter () const
	Returns the prolate hyper spheroid's polar diameter. More...

std::vector< RealType >	getRotationMatrix () const
	Returns the rotation matrix stored in a vector. More...

RealType	getVolume () const
	Returns the prolate hyper spheroid's volume. More...

bool	isInBounds (RealType *first) const
	Returns whether [first, first + dimensionality) is a point contained by the prolate hyper spheroid. More...

template<class Generator >
void	operator() (RealType *first, Generator &gen)
	Fills [first, first + dimensionality) with a uniform sample of the prolate hyper spheroid. More...

void	setPolarDiameter (RealType newPolarDiameter)
	Sets the prolate hyper spheroid's polar diameter. More...

template<class ValIter >
	UniformProlateSpheroidDistribution (ValIter focalAFirst, ValIter focalALast, ValIter focalBFirst)
	Constructs a uiform distribution of a prolate hyper spheroid with the focal points [focalAFirst, focalALast) and [focalBFirst, focalBFirst + distance(focalAFirst, focalALast)). More...

template<class ValIter >
	UniformProlateSpheroidDistribution (ValIter focalAFirst, ValIter focalALast, ValIter focalBFirst, const std::vector< RealType > &rotationMatrix)
	Constructs a uiform distribution of a prolate hyper spheroid with the focal points [focalAFirst, focalALast) and [focalBFirst, focalBFirst + distance(focalAFirst, focalALast)) and the given rotation matrix. More...

Protected Types
using	MatType = Eigen::Matrix< RealType, Eigen::Dynamic, Eigen::Dynamic >
	Internal used Eigen matrix type. More...

using	VecType = Eigen::Matrix< RealType, Eigen::Dynamic, 1 >
	Internal used Eigen vector type. More...

Protected Member Functions
void	refreshRotationMatrix (const VecType &normalizedFocalPointAToB)
	Calculates the rotation matrix as described in the paper. More...

template<class IteratorType >
void	setFocalPoints (IteratorType focalAFirst, IteratorType focalBFirst, bool updateRotationMatrix=true)
	Sets the focal points. More...

Protected Attributes
VecType	centre
	The prolate hyper spheroid's center. More...

RealType	distanceFocalPoints
	The distance of the focalpoints. More...

VecType	focalPointA
	The prolate hyper spheroid's first focal point. More...

VecType	focalPointB
	The prolate hyper spheroid's second focal point. More...

RealType	polarDiameter
	The prolate hyper spheroid's diameter. More...

MatType	rotation
	The used rotation matrix. More...

MatType	scaleThenRotate
	The used transformation matrix to transform uniform points from the volume of a sphere to a uniform sample of the prolate hyper spheroid's volume. More...

UniformUnitSphereDistribution< RealType >	sphereDistribution
	The internal used sphere volume distribution. More...

std::vector< RealType >	tmpVal
	Buffer for a temporary sample. More...

RealType	volumeProlateSpheroid
	The prolate hyper spheroid's volume. More...

Detailed Description

template<class RealType = float>
class armarx::UniformProlateSpheroidDistribution< RealType >

Uniform distribution of a prolate hyper spheroid.

Definition at line 321 of file Samplers.h.

Member Typedef Documentation

◆ MatType

using MatType = Eigen::Matrix<RealType, Eigen::Dynamic, Eigen::Dynamic>

protected

Internal used Eigen matrix type.

Definition at line 332 of file Samplers.h.

◆ VecType

using VecType = Eigen::Matrix<RealType, Eigen::Dynamic, 1 >

protected

Internal used Eigen vector type.

Definition at line 328 of file Samplers.h.

Constructor & Destructor Documentation

◆ UniformProlateSpheroidDistribution() [1/2]

UniformProlateSpheroidDistribution	(	ValIter	focalAFirst,
		ValIter	focalALast,
		ValIter	focalBFirst
	)

inline

Constructs a uiform distribution of a prolate hyper spheroid with the focal points [focalAFirst, focalALast) and [focalBFirst, focalBFirst + distance(focalAFirst, focalALast)).

Parameters

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 342 of file Samplers.h.

◆ UniformProlateSpheroidDistribution() [2/2]

UniformProlateSpheroidDistribution	(	ValIter	focalAFirst,
		ValIter	focalALast,
		ValIter	focalBFirst,
		const std::vector< RealType > &	rotationMatrix
	)

inline

Constructs a uiform distribution of a prolate hyper spheroid with the focal points [focalAFirst, focalALast) and [focalBFirst, focalBFirst + distance(focalAFirst, focalALast)) and the given rotation matrix.

Parameters

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 370 of file Samplers.h.

Member Function Documentation

◆ getDimensionality()

T getDimensionality ( ) const

inline

Returns the dimensionality of the distribution.

Returns: The dimensionality of the distribution.

Definition at line 413 of file Samplers.h.

Here is the caller graph for this function:

◆ getDistanceFocalPoints()

RealType getDistanceFocalPoints ( ) const

inline

Returns the distance between the prolate hyper spheroid's focal points.

Returns: The distance between the prolate hyper spheroid's focal points.

Definition at line 444 of file Samplers.h.

◆ getPolarDiameter()

RealType getPolarDiameter ( ) const

inline

Returns the prolate hyper spheroid's polar diameter.

Returns: The prolate hyper spheroid's polar diameter.

Definition at line 453 of file Samplers.h.

Here is the caller graph for this function:

◆ getRotationMatrix()

std::vector<RealType> getRotationMatrix ( ) const

inline

Returns the rotation matrix stored in a vector.

Returns: The rotation matrix stored in a vector.

Definition at line 487 of file Samplers.h.

Here is the caller graph for this function:

◆ getVolume()

RealType getVolume ( ) const

inline

Returns the prolate hyper spheroid's volume.

Returns: The prolate hyper spheroid's volume.

Definition at line 435 of file Samplers.h.

◆ isInBounds()

bool isInBounds ( RealType * first ) const

inline

Returns whether [first, first + dimensionality) is a point contained by the prolate hyper spheroid.

Parameters

first The first value of the point to check.

Returns: Whether [first, first + dimensionality) is a point contained by the prolate hyper spheroid.

Definition at line 423 of file Samplers.h.

Here is the caller graph for this function:

◆ operator()()

void operator()	(	RealType *	first,
		Generator &	gen
	)

inline

Fills [first, first + dimensionality) with a uniform sample of the prolate hyper spheroid.

Parameters

first	The first value to fill.
gen	The used generator.

Definition at line 399 of file Samplers.h.

◆ refreshRotationMatrix()

void refreshRotationMatrix ( const VecType & normalizedFocalPointAToB )

inlineprotected

Calculates the rotation matrix as described in the paper.

Variable names (mostly) represent the names from the paper

Parameters

normalizedFocalPointAToB corresponds to a_1 from the paper

Definition at line 535 of file Samplers.h.

Here is the caller graph for this function:

◆ setFocalPoints()

void setFocalPoints	(	IteratorType	focalAFirst,
		IteratorType	focalBFirst,
		bool	updateRotationMatrix = `true`
	)

inlineprotected

Sets the focal points.

Parameters

focalAFirst	The first value of the first focal point.
focalBFirst	The first value of the second focal point.
updateRotationMatrix	Whether the rotation matrix should be calculated.

Definition at line 502 of file Samplers.h.

◆ setPolarDiameter()

void setPolarDiameter ( RealType newPolarDiameter )

inline

Sets the prolate hyper spheroid's polar diameter.

Parameters

The	new prolate hyper spheroid's polar diameter.

Definition at line 462 of file Samplers.h.

Member Data Documentation

◆ centre

VecType centre

protected

The prolate hyper spheroid's center.

(0.5 * (focalPointA + focalPointB))

Definition at line 608 of file Samplers.h.

◆ distanceFocalPoints

RealType distanceFocalPoints

protected

The distance of the focalpoints.

Definition at line 587 of file Samplers.h.

◆ focalPointA

VecType focalPointA

protected

The prolate hyper spheroid's first focal point.

Definition at line 600 of file Samplers.h.

◆ focalPointB

VecType focalPointB

protected

The prolate hyper spheroid's second focal point.

Definition at line 604 of file Samplers.h.

◆ polarDiameter

RealType polarDiameter

protected

The prolate hyper spheroid's diameter.

Definition at line 591 of file Samplers.h.

◆ rotation

MatType rotation

protected

The used rotation matrix.

Definition at line 612 of file Samplers.h.

◆ scaleThenRotate

MatType scaleThenRotate

protected

The used transformation matrix to transform uniform points from the volume of a sphere to a uniform sample of the prolate hyper spheroid's volume.

Definition at line 617 of file Samplers.h.

◆ sphereDistribution

UniformUnitSphereDistribution<RealType> sphereDistribution

protected

The internal used sphere volume distribution.

(It's results are transformed to the prolate hyper spheroid)

Definition at line 578 of file Samplers.h.

◆ tmpVal

std::vector<RealType> tmpVal

mutableprotected

Buffer for a temporary sample.

Definition at line 583 of file Samplers.h.

◆ volumeProlateSpheroid

RealType volumeProlateSpheroid

protected

The prolate hyper spheroid's volume.

Definition at line 595 of file Samplers.h.

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

RobotComponents/components/MotionPlanning/util/Samplers.h

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<class RealType = float> class armarx::UniformProlateSpheroidDistribution< RealType >

Member Typedef Documentation

◆ MatType

◆ VecType

Constructor & Destructor Documentation

◆ UniformProlateSpheroidDistribution() [1/2]

◆ UniformProlateSpheroidDistribution() [2/2]

Member Function Documentation

◆ getDimensionality()

◆ getDistanceFocalPoints()

◆ getPolarDiameter()

◆ getRotationMatrix()

◆ getVolume()

◆ isInBounds()

◆ operator()()

◆ refreshRotationMatrix()

◆ setFocalPoints()

◆ setPolarDiameter()

Member Data Documentation

◆ centre

◆ distanceFocalPoints

◆ focalPointA

◆ focalPointB

◆ polarDiameter

◆ rotation

◆ scaleThenRotate

◆ sphereDistribution

◆ tmpVal

◆ volumeProlateSpheroid

template<class RealType = float>
class armarx::UniformProlateSpheroidDistribution< RealType >