Similar to armarx::SimoxCSpace, but prepends dimensions for translation in x, y and z and rotations around x, y and z. More...

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

Inheritance diagram for SimoxCSpaceWith3DPose:

Public Member Functions
CSpaceBasePtr	clone (bool loadVisualizationModel) override

Ice::StringSeq	getAgentJointNames () const override

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

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

void	setConfig (const float *&it) override

void	setPoseBounds (const Vector6fRange &newBounds)

	SimoxCSpaceWith3DPose (memoryx::CommonStorageInterfacePrx commonStoragePrx, bool loadVisualizationModel, float stationaryObjectMargin=0.0f)

Public Member Functions inherited from SimoxCSpace
virtual void	addObjectsFromWorkingMemory (memoryx::WorkingMemoryInterfacePrx workingMemoryPrx, const std::vector< std::string > &excludedInstancesIds=std::vector< std::string >())
	Adds all objects except the ones with ids specified in the parameter excludedInstancesIds from the working memory to the cspace. More...

virtual void	addPlanarObject (const std::vector< Eigen::Vector3f > &convexHull)

void	addStationaryObject (const StationaryObject &obj, const Ice::Current &=Ice::emptyCurrent) override
	Adds a stationary object to the cspace. More...

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

virtual Saba::CSpaceSampledPtr	createSimoxCSpace () const

const AgentPlanningInformation &	getAgent () const

const VirtualRobot::RobotPtr &	getAgentSceneObj () const

VirtualRobot::CDManager &	getCD ()

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

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

float	getStationaryObjectMargin () const

const StationaryObjectList &	getStationaryObjects () const

const VirtualRobot::SceneObjectSetPtr &	getStationaryObjectSet () const

std::vector< armarx::DebugDrawerLineSet >	getTraceVisu (const Path &p, const std::vector< std::string > &nodeNames, float traceStepSize=std::numeric_limits< float >::infinity())

std::vector< armarx::DebugDrawerLineSet >	getTraceVisu (const PathWithCost &p, const std::vector< std::string > &nodeNames, float traceStepSize=std::numeric_limits< float >::infinity())

std::vector< armarx::DebugDrawerLineSet >	getTraceVisu (const VectorXfSeq &vecs, const std::vector< std::string > &nodeNames, float traceStepSize=std::numeric_limits< float >::infinity())

void	ice_postUnmarshal () override
	Initializes basic structures after transmission through ice. More...

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

VectorXf	jointMapToVector (const std::map< std::string, float > &jointMap, bool checkForNonexistenJointsInCspace=false) const

virtual TrajectoryPtr	pathToTrajectory (const Path &p) const

virtual TrajectoryPtr	pathToTrajectory (const PathWithCost &p) const

virtual TrajectoryPtr	pathToTrajectory (const VectorXfSeq &p) const

void	setAgent (const AgentPlanningInformation &agentInfo, const Ice::Current &=Ice::emptyCurrent) override
	Adds a stationary agent to the cspace. More...

virtual void	setConfig (const float *&&it)

virtual void	setConfig (const std::vector< float > cfg)
	Sets a configuration to check for. More...

void	setStationaryObjectMargin (float stationaryObjectMargin)

virtual void	setStationaryObjects (const StationaryObjectList &objList)

	SimoxCSpace (memoryx::CommonStorageInterfacePrx commonStoragePrx, bool loadVisualizationModel=false, float stationaryObjectMargin=0.0f)
	ctor More...

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
	SimoxCSpaceWith3DPose ()=default

Protected Member Functions inherited from SimoxCSpace
AgentData	getAgentDataAndLoadRobot () const

AgentData	getAgentDataFromRobot (VirtualRobot::RobotPtr robotPtr) const

const std::vector< VirtualRobot::RobotNodePtr > &	getAgentJoints () const

VirtualRobot::ManipulationObjectPtr	getMovedSimoxManipulatorObject (const memoryx::ObjectClassBasePtr &object, const armarx::PoseBasePtr &pose, memoryx::GridFileManagerPtr &fileManager) const

VirtualRobot::ManipulationObjectPtr	getSimoxManipulatorObject (const memoryx::ObjectClassBasePtr &object, const memoryx::GridFileManagerPtr &fileManager, bool inflate=true, VirtualRobot::CollisionCheckerPtr const &colChecker=VirtualRobot::CollisionCheckerPtr{}) const

void	initAgent ()

void	initAgent (AgentData agentData)
	Initializes an agent. More...

void	initAgent (VirtualRobot::RobotPtr robotPtr)

void	initStationaryObjects ()
	Initializes stationary objects for collision checking. More...

	SimoxCSpace ()=default
	Default ctor. More...

Protected Attributes
Eigen::Matrix4f	globalPoseBuffer = Eigen::Matrix4f::Identity()

Protected Attributes inherited from SimoxCSpace
std::vector< VirtualRobot::RobotNodePtr >	agentJoints

VirtualRobot::RobotPtr	agentSceneObj

VirtualRobot::CDManager	cd
	The collision checker. More...

memoryx::GridFileManagerPtr	fileManager
	The file manager used to load objects. More...

bool	isInitialized {false}
	Whether the collision check is initialized. More...

bool	loadVisualizationModel {false}
	Whether the visualization model of objects/agents sould be loaded. More...

GlobalCache< VirtualRobot::ManipulationObjectPtr, std::pair< int, std::string > >	meshCache

GlobalCache< RobotPoolPtr, std::pair< VirtualRobot::RobotIO::RobotDescription, std::string > >	robotCache

VirtualRobot::SceneObjectSetPtr	stationaryObjectSet
	The scene objects for stationary objects. More...

std::vector< std::vector< Eigen::Vector3f > >	stationaryPlanes

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

Additional Inherited Members
Static Public Member Functions inherited from SimoxCSpace
static SimoxCSpacePtr	PrefetchWorkingMemoryObjects (memoryx::WorkingMemoryInterfacePrx workingMemoryPrx, memoryx::CommonStorageInterfacePrx commonStoragePrx, RobotStateComponentInterfacePrx rsc)
	Load objects from WorkingMemory and puts them into the mesh cache. More...

Detailed Description

Similar to armarx::SimoxCSpace, but prepends dimensions for translation in x, y and z and rotations around x, y and z.

(use this for path planning of flying robots).

Definition at line 474 of file SimoxCSpace.h.

Constructor & Destructor Documentation

◆ SimoxCSpaceWith3DPose() [1/2]

SimoxCSpaceWith3DPose	(	memoryx::CommonStorageInterfacePrx	commonStoragePrx,
		bool	loadVisualizationModel,
		float	stationaryObjectMargin = `0.0f`
	)

Definition at line 970 of file SimoxCSpace.cpp.

◆ SimoxCSpaceWith3DPose() [2/2]

SimoxCSpaceWith3DPose ( )

protecteddefault

Member Function Documentation

◆ clone()

CSpaceBasePtr clone ( bool loadVisualizationModel )

overridevirtual

Parameters

loadVisualizationModel Whether the clone should load the visualization model.

Returns: A clone of this cspace.

Reimplemented from SimoxCSpace.

Definition at line 980 of file SimoxCSpace.cpp.

◆ getAgentJointNames()

Ice::StringSeq getAgentJointNames ( ) const

overridevirtual

Reimplemented from SimoxCSpace.

Definition at line 1059 of file SimoxCSpace.cpp.

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◆ getDimensionality()

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

inlineoverride

Returns: The cspace's dimensionality.

Definition at line 504 of file SimoxCSpace.h.

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◆ getDimensionsBounds()

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

override

Returns: The cspace's dimension bounds.

Definition at line 995 of file SimoxCSpace.cpp.

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◆ setConfig()

void setConfig ( const float *& it )

overridevirtual

Reimplemented from SimoxCSpace.

Definition at line 1021 of file SimoxCSpace.cpp.

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◆ setPoseBounds()

void setPoseBounds ( const Vector6fRange & newBounds )

inline

Definition at line 484 of file SimoxCSpace.h.

Friends And Related Function Documentation

◆ armarx::GenericFactory

friend class armarx::GenericFactory

friend

Definition at line 515 of file SimoxCSpace.h.

Member Data Documentation

◆ globalPoseBuffer

Eigen::Matrix4f globalPoseBuffer = Eigen::Matrix4f::Identity()

protected

Definition at line 518 of file SimoxCSpace.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimoxCSpaceWith3DPose() [1/2]

◆ SimoxCSpaceWith3DPose() [2/2]

Member Function Documentation

◆ clone()

◆ getAgentJointNames()

◆ getDimensionality()

◆ getDimensionsBounds()

◆ setConfig()

◆ setPoseBounds()

Friends And Related Function Documentation

◆ armarx::GenericFactory

Member Data Documentation

◆ globalPoseBuffer