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.

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

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

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

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

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

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

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

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)).

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.

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

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

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

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

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

RealType	distanceFocalPoints
	The distance of the focalpoints.

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

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

RealType	polarDiameter
	The prolate hyper spheroid's diameter.

MatType	rotation
	The used rotation matrix.

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.

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

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

RealType	volumeProlateSpheroid
	The prolate hyper spheroid's volume.

Detailed Description

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

Uniform distribution of a prolate hyper spheroid.

Member Typedef Documentation

◆ MatType

template<class RealType = float>

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

protected

Internal used Eigen matrix type.

◆ VecType

template<class RealType = float>

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

protected

Internal used Eigen vector type.

Constructor & Destructor Documentation

◆ UniformProlateSpheroidDistribution() [1/2]

template<class RealType = float>

template<class ValIter>

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.

◆ UniformProlateSpheroidDistribution() [2/2]

template<class RealType = float>

template<class ValIter>

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>>)

Member Function Documentation

◆ getDimensionality()

template<class RealType = float>

template<class T = std::size_t>

T getDimensionality ( ) const

inline

Returns the dimensionality of the distribution.

Returns: The dimensionality of the distribution.

◆ getDistanceFocalPoints()

template<class RealType = float>

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.

◆ getPolarDiameter()

template<class RealType = float>

RealType getPolarDiameter ( ) const

inline

Returns the prolate hyper spheroid's polar diameter.

Returns: The prolate hyper spheroid's polar diameter.

◆ getRotationMatrix()

template<class RealType = float>

std::vector< RealType > getRotationMatrix ( ) const

inline

Returns the rotation matrix stored in a vector.

Returns: The rotation matrix stored in a vector.

◆ getVolume()

template<class RealType = float>

RealType getVolume ( ) const

inline

Returns the prolate hyper spheroid's volume.

Returns: The prolate hyper spheroid's volume.

◆ isInBounds()

template<class RealType = float>

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.

◆ 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 prolate hyper spheroid.

Parameters

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

◆ refreshRotationMatrix()

template<class RealType = float>

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

◆ setFocalPoints()

template<class RealType = float>

template<class IteratorType>

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.

◆ setPolarDiameter()

template<class RealType = float>

void setPolarDiameter ( RealType newPolarDiameter )

inline

Sets the prolate hyper spheroid's polar diameter.

Parameters

The	new prolate hyper spheroid's polar diameter.

Member Data Documentation

◆ centre

template<class RealType = float>

VecType centre

protected

The prolate hyper spheroid's center.

(0.5 * (focalPointA + focalPointB))

◆ distanceFocalPoints

template<class RealType = float>

RealType distanceFocalPoints

protected

The distance of the focalpoints.

◆ focalPointA

template<class RealType = float>

VecType focalPointA

protected

The prolate hyper spheroid's first focal point.

◆ focalPointB

template<class RealType = float>

VecType focalPointB

protected

The prolate hyper spheroid's second focal point.

◆ polarDiameter

template<class RealType = float>

RealType polarDiameter

protected

The prolate hyper spheroid's diameter.

◆ rotation

template<class RealType = float>

MatType rotation

protected

The used rotation matrix.

◆ scaleThenRotate

template<class RealType = float>

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.

◆ sphereDistribution

template<class RealType = float>

UniformUnitSphereDistribution<RealType> sphereDistribution

protected

The internal used sphere volume distribution.

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

◆ tmpVal

template<class RealType = float>

std::vector<RealType> tmpVal

mutableprotected

Buffer for a temporary sample.

◆ volumeProlateSpheroid

template<class RealType = float>

RealType volumeProlateSpheroid

protected

The prolate hyper spheroid's volume.

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

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