ScaledCSpace Class Reference

Takes an other cspace and scales its' dimensions. More...

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

Inheritance diagram for ScaledCSpace:

Public Member Functions
CSpaceBasePtr	clone (const Ice::Current &=Ice::emptyCurrent) override
Ice::Long	getDimensionality (const Ice::Current &=Ice::emptyCurrent) const override
FloatRangeSeq	getDimensionsBounds (const Ice::Current &=Ice::emptyCurrent) const override
Ice::FloatSeq	getScalingFactors (const ::Ice::Current &=Ice::emptyCurrent) override
void	initCollisionTest (const Ice::Current &=Ice::emptyCurrent) override
	Initializes the collision check.
bool	isCollisionFree (const ::std::pair< const Ice::Float *, const Ice::Float * > &cfg, const Ice::Current &=Ice::emptyCurrent) override
virtual bool	isCollisionFree (const Ice::Float *first, const Ice::Float *last)
virtual bool	isCollisionFree (const VectorXf &config)
virtual void	scaleConfig (VectorXf &config) const
	ScaledCSpace (const CSpaceBasePtr &cspace, const Ice::FloatSeq &scale)
	ctor.
virtual void	scalePath (Path &path) const
virtual void	unscaleConfig (VectorXf &config) const
virtual void	unscalePath (Path &path) const
virtual void	unscalePath (PathWithCost &path) const
virtual void	unscalePath (VectorXfSeq &nodes) const
Public Member Functions inherited from CSpaceAdaptor
	CSpaceAdaptor (CSpaceBasePtr originalCSpace)
CSpaceBasePtr	getOriginalCSpace (const Ice::Current &=Ice::emptyCurrent) const override
Public Member Functions inherited from CSpace
void	initCollisionTest (const Ice::Current &=Ice::emptyCurrent) override
	Initializes collision checking.
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
	ScaledCSpace ()=default
	Default ctor.
void	unscaleToBuffer (const Ice::Float *cfg, VectorXf &buffer) const
	Unscales the given configuration to a buffer.
Protected Member Functions inherited from CSpaceAdaptor
	CSpaceAdaptor ()=default

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

Detailed Description

Takes an other cspace and scales its' dimensions.

Can be used when lage translations and rotations are planned at the same time.

Constructor & Destructor Documentation

ScaledCSpace() [1/2]

ScaledCSpace	(	const CSpaceBasePtr &	cspace,
		const Ice::FloatSeq &	scale )

ctor.

Parameters

cspace	The cspace to scale.
scale	The dimensions' scaling factors.

ScaledCSpace() [2/2]

ScaledCSpace ( )

protecteddefault

Default ctor.

Used for ice factories.

Member Function Documentation

clone()

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

overridevirtual

Returns

A clone of this object.

Implements CSpace.

getDimensionality()

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

inlineoverride

Returns

The cspace's dimensionality.

getDimensionsBounds()

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

override

Returns

The cspace's dimensions.

getScalingFactors()

Ice::FloatSeq getScalingFactors ( const ::Ice::Current & = Ice::emptyCurrent )

inlineoverride

Returns

The dimensions' scaling factors.

initCollisionTest()

void initCollisionTest ( const Ice::Current & = Ice::emptyCurrent )

inlineoverride

Initializes the collision check.

isCollisionFree() [1/3]

bool isCollisionFree ( const ::std::pair< const Ice::Float *, const Ice::Float * > & cfg, const Ice::Current & = Ice::emptyCurrent )

overridevirtual

Parameters

cfg	The configuration to check.

Returns

Checks whether the given configuration is collision free.

Implements CSpace.

isCollisionFree() [2/3]

virtual bool isCollisionFree ( const Ice::Float * first, const Ice::Float * last )

inlinevirtual

Parameters

first	The configuration's first element.
last	The configuration's last element.

Returns

Whether the given configuration [first,last) is collision free.

Reimplemented from CSpace.

isCollisionFree() [3/3]

virtual bool isCollisionFree ( const VectorXf & config )

inlinevirtual

Parameters

config

The config to check. (as armarx::VectorXf)

Returns

Whether the given configuration is collision free.

Reimplemented from CSpace.

scaleConfig()

void scaleConfig ( VectorXf & config ) const

virtual

scalePath()

void scalePath ( Path & path ) const

virtual

unscaleConfig()

void unscaleConfig ( VectorXf & config ) const

virtual

Parameters

cfg	The configuration.

Returns

Returns the unscaled version of the configuration.

unscalePath() [1/3]

void unscalePath ( Path & path ) const

virtual

unscalePath() [2/3]

void unscalePath ( PathWithCost & path ) const

virtual

unscalePath() [3/3]

void unscalePath ( VectorXfSeq & nodes ) const

virtual

unscaleToBuffer()

void unscaleToBuffer ( const Ice::Float * cfg, VectorXf & buffer ) const

protected

Unscales the given configuration to a buffer.

Parameters

cfg	The scaled configuration.
buffer	The buffer to fill.

Friends And Related Symbol Documentation

armarx::GenericFactory

template<class IceBaseClass, class DerivedClass>

friend class armarx::GenericFactory

friend

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

• RobotComponents/components/MotionPlanning/CSpace/ScaledCSpace.h
• RobotComponents/components/MotionPlanning/CSpace/ScaledCSpace.cpp