UniformInformedProlateSpheroidDistribution< RealType > Class Template Reference

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.
RealType	getVolume () const
	Returns the distributions volume.
bool	isInBounds (const RealType *first) const
	Returns whether [first, first + dimensionality) is a point contained by the prolate hyper spheroid and the cuboid.
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.
bool	setMaximalCost (RealType max)
	Sets the maximal cost to max if the current maximal cost is higher.
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))).
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).

Protected Attributes
RealType	cMax
	The current maximal cost.
UniformCuboidDistribution< RealType >	cuboidDistribution
	The cuboid's distribution.
UniformProlateSpheroidDistribution< RealType >	spheroidDistribution
	The prolate hyper spheroid's distribution.

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)

Constructor & Destructor Documentation

UniformInformedProlateSpheroidDistribution() [1/2]

template<class RealType = float>

template<class ValIter, class BoundsIter>

UniformInformedProlateSpheroidDistribution ( BoundsIter boundsFirst, BoundsIter boundsLast, ValIter focalAFirst, ValIter focalALast, ValIter focalBFirst, const std::vector< RealType > & rotationMatrix )

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>>)

UniformInformedProlateSpheroidDistribution() [2/2]

template<class RealType = float>

template<class ValIter, class BoundsIter>

UniformInformedProlateSpheroidDistribution ( BoundsIter boundsFirst, BoundsIter boundsLast, ValIter focalAFirst, ValIter focalALast, ValIter focalBFirst )

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.

Member Function Documentation

getDimensionality()

template<class RealType = float>

template<class T = std::size_t>

T getDimensionality ( ) const

inline

Returns the distributions dimensionality.

Returns

The distributions dimensionality.

getVolume()

template<class RealType = float>

RealType getVolume ( ) const

inline

Returns the distributions volume.

It is the minimum of the prolate hyper spheroid's and the cuboid's volumes.

Returns

The distributions volume.

isInBounds()

template<class RealType = float>

bool isInBounds ( const RealType * first ) const

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.

operator()()

template<class RealType = float>

template<class Generator>

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

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.

setMaximalCost()

template<class RealType = float>

bool setMaximalCost ( RealType max )

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.

Member Data Documentation

cMax

template<class RealType = float>

RealType cMax

protected

The current maximal cost.

cuboidDistribution

template<class RealType = float>

UniformCuboidDistribution<RealType> cuboidDistribution

protected

The cuboid's distribution.

spheroidDistribution

template<class RealType = float>

UniformProlateSpheroidDistribution<RealType> spheroidDistribution

protected

The prolate hyper spheroid's distribution.

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

• RobotComponents/components/MotionPlanning/util/Samplers.h