armarx::CSpaceBase
Overview
[ "cpp:virtual" ]
class CSpaceBase
@brief Describes a planning cspace. This cspace contains everything
specific for a planning task:
- The cspace's bounds for all dimensions. (The cspace has bounds.size() dimensions)
- A function to check whether a configuration is a collision.
All functions accepting a configuration assume one value for each dimension is passed!
- If less values than the cspace's dimensionality are passed the behavior may be undefined.
- If more values than the cspace's dimensionality are passed the additional values are ignored.
Derived Classes and Interfaces
- CSpaceAdaptorBase
- SimoxCSpaceBase
Used By
- CSpaceAdaptorBase::getOriginalCSpace
- CSpaceAdaptorBase::originalCSpace
- CSpaceAndPaths::cspace
- clone
- MotionPlanningTaskBase::getCSpace
- MotionPlanningTaskWithDefaultMembersBase::cspace
- addirrtstar::ManagerNodeBase::cspace
- addirrtstar::WorkerNodeBase::cspace
- pathcol::TaskBase::cspace
- rrtconnect::WorkerNodeBase::cspace
Operation Index
- isCollisionFree
-
@param configuration The values to check for collision.
- isValidConfiguration
-
@brief Returns whether the configuration is valid.
- clone
-
@brief Makes a deep copy.
- initCollisionTest
-
@brief Initializes implementation specific local structures used for collision testing.
- getDimensionsBounds
-
@return The bounds of this cspace's dimensions.
- getDimensionality
-
@return The number of this cspace's dimensions.
Operations
bool isCollisionFree(VectorXf config)
Parameters
- configuration
-
The values to check for collision.
Call initCollisionTest prior to calls to this function.
Return Value
Whether the configuration is collision free.
bool isValidConfiguration(VectorXf configuration)
@brief Returns whether the configuration is valid.
Parameters
- config
-
The configuration to check.
Return Value
Whether for all dimensions d_i following evaluates to true:
d_i.periodical || configi <= d.low && configi >= d.high
@brief Makes a deep copy.
It should be possible to call this function without locking, while the cspace is
used to check collisions.
Return Value
Returns the deep copy.
void initCollisionTest()
@brief Initializes implementation specific local structures used for collision testing.
Has to be called before any call to isCollisionFree.
Return Value
The bounds of this cspace's dimensions.
long getDimensionality()
Return Value
The number of this cspace's dimensions.