SimoxCSpace Class Reference

The SimoxCSpace contains a set of stationary obstacles and an agent. More...

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

Inheritance diagram for SimoxCSpace:

Classes
struct	AgentData
	Contains information about an agent. More...

Public Member Functions
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.
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.
virtual CSpaceBasePtr	clone (bool loadVisualizationModel)
CSpaceBasePtr	clone (const Ice::Current &=Ice::emptyCurrent) override
virtual Saba::CSpaceSampledPtr	createSimoxCSpace () const
const AgentPlanningInformation &	getAgent () const
virtual Ice::StringSeq	getAgentJointNames () 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.
void	initCollisionTest (const Ice::Current &=Ice::emptyCurrent) override
	Initializes the collision test.
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)
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.
virtual void	setConfig (const float *&&it)
virtual void	setConfig (const float *&it)
virtual void	setConfig (const std::vector< float > cfg)
	Sets a configuration to check for.
void	setStationaryObjectMargin (float stationaryObjectMargin)
virtual void	setStationaryObjects (const StationaryObjectList &objList)
	SimoxCSpace (memoryx::CommonStorageInterfacePrx commonStoragePrx, bool loadVisualizationModel=false, float stationaryObjectMargin=0.0f)
	ctor
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 ()

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

Protected Member Functions
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.
void	initAgent (VirtualRobot::RobotPtr robotPtr)
void	initStationaryObjects ()
	Initializes stationary objects for collision checking.
	SimoxCSpace ()=default
	Default ctor.

Protected Attributes
std::vector< VirtualRobot::RobotNodePtr >	agentJoints
VirtualRobot::RobotPtr	agentSceneObj
VirtualRobot::CDManager	cd
	The collision checker.
memoryx::GridFileManagerPtr	fileManager
	The file manager used to load objects.
bool	isInitialized {false}
	Whether the collision check is initialized.
bool	loadVisualizationModel {false}
	Whether the visualization model of objects/agents sould be loaded.
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.
std::vector< std::vector< Eigen::Vector3f > >	stationaryPlanes

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

Detailed Description

The SimoxCSpace contains a set of stationary obstacles and an agent.

The agent can have attached objects. The objects are loaded from a memoryx::CommonStorageInterfacePrx. The number of dimensions is determined by the agent's kinematic chains.

See also

armarx::SimoxCSpaceBase

RobotComponents-Tutorial-SimoxCSpace

Constructor & Destructor Documentation

SimoxCSpace() [1/2]

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

ctor

Parameters

commonStoragePrx	The common storage containing the objects.
loadVisualizationModel	Whether to load the visualization model. (true, if you want to display the object. false if you want to plan)

SimoxCSpace() [2/2]

SimoxCSpace ( )

protecteddefault

Default ctor.

Used for ice factories.

Member Function Documentation

addObjectsFromWorkingMemory()

void addObjectsFromWorkingMemory ( memoryx::WorkingMemoryInterfacePrx workingMemoryPrx, const std::vector< std::string > & excludedInstancesIds = std::vector<std::string>() )

virtual

Adds all objects except the ones with ids specified in the parameter excludedInstancesIds from the working memory to the cspace.

Parameters

workingMemoryPrx	The working memory.
excludedInstancesIds	the ids of the instances in teh working memory that should not be added

addPlanarObject()

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

virtual

addStationaryObject()

void addStationaryObject ( const StationaryObject & obj, const Ice::Current & = Ice::emptyCurrent )

override

Adds a stationary object to the cspace.

Parameters

obj	The object to add.

clone() [1/2]

CSpaceBasePtr clone ( bool loadVisualizationModel )

virtual

Parameters

loadVisualizationModel

Whether the clone should load the visualization model.

Returns

A clone of this cspace.

Reimplemented in SimoxCSpaceWith2DPose, SimoxCSpaceWith3DPose, and VoxelGridCSpace.

clone() [2/2]

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

inlineoverridevirtual

Returns

A clone of this cspace.

Implements CSpace.

Reimplemented in VoxelGridCSpace.

createSimoxCSpace()

Saba::CSpaceSampledPtr createSimoxCSpace ( ) const

virtual

getAgent()

const AgentPlanningInformation & getAgent ( ) const

inline

getAgentDataAndLoadRobot()

SimoxCSpace::AgentData getAgentDataAndLoadRobot ( ) const

protected

getAgentDataFromRobot()

SimoxCSpace::AgentData getAgentDataFromRobot ( VirtualRobot::RobotPtr robotPtr ) const

protected

getAgentJointNames()

Ice::StringSeq getAgentJointNames ( ) const

virtual

Reimplemented in SimoxCSpaceWith2DPose, and SimoxCSpaceWith3DPose.

getAgentJoints()

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

inlineprotected

getAgentSceneObj()

const VirtualRobot::RobotPtr & getAgentSceneObj ( ) const

inline

getCD()

VirtualRobot::CDManager & getCD ( )

inline

Returns

The collision checker.

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 dimension bounds.

getMovedSimoxManipulatorObject()

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

protected

Parameters

object	The object.
pose	The pose to use.

Returns

The given objects manipulation object moved to the given pose.

getSimoxManipulatorObject()

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

protected

Parameters

object

The object.

Returns

The given objects manipulation object.

getStationaryObjectMargin()

float getStationaryObjectMargin ( ) const

inline

getStationaryObjects()

const StationaryObjectList & getStationaryObjects ( ) const

inline

Returns

The stationary objects.

getStationaryObjectSet()

const VirtualRobot::SceneObjectSetPtr & getStationaryObjectSet ( ) const

inline

Returns

The set of stationary objects' scene objects.

getTraceVisu() [1/3]

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

inline

getTraceVisu() [2/3]

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

inline

getTraceVisu() [3/3]

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

ice_postUnmarshal()

void ice_postUnmarshal ( )

override

Initializes basic structures after transmission through ice.

initAgent() [1/3]

void initAgent ( )

inlineprotected

initAgent() [2/3]

void initAgent ( AgentData agentData )

protected

Initializes an agent.

(Does not need to read from the file system if loadAnyModel is false)

Parameters

agentData	Data about the agent.
loadAnyModel	if unset only the robot structure is loaded. If set the robot's and objects' collision model are loaded. (depending on loadVisualizationModel the robot's visualisation model is loaded)

initAgent() [3/3]

void initAgent ( VirtualRobot::RobotPtr robotPtr )

inlineprotected

initCollisionTest()

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

override

Initializes the collision test.

initStationaryObjects()

void initStationaryObjects ( )

protected

Initializes stationary objects for collision checking.

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

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.

jointMapToVector()

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

pathToTrajectory() [1/3]

virtual TrajectoryPtr pathToTrajectory ( const Path & p ) const

inlinevirtual

pathToTrajectory() [2/3]

virtual TrajectoryPtr pathToTrajectory ( const PathWithCost & p ) const

inlinevirtual

pathToTrajectory() [3/3]

TrajectoryPtr pathToTrajectory ( const VectorXfSeq & p ) const

virtual

PrefetchWorkingMemoryObjects()

SimoxCSpacePtr PrefetchWorkingMemoryObjects ( memoryx::WorkingMemoryInterfacePrx workingMemoryPrx, memoryx::CommonStorageInterfacePrx commonStoragePrx, armarx::RobotStateComponentInterfacePrx rsc )

static

Load objects from WorkingMemory and puts them into the mesh cache.

Parameters

workingMemoryPrx

setAgent()

void setAgent ( const AgentPlanningInformation & agentInfo, const Ice::Current & = Ice::emptyCurrent )

override

Adds a stationary agent to the cspace.

Parameters

obj	The object to add.

setConfig() [1/3]

virtual void setConfig ( const float *&& it )

inlinevirtual

setConfig() [2/3]

void setConfig ( const float *& it )

virtual

Reimplemented in SimoxCSpaceWith2DPose, and SimoxCSpaceWith3DPose.

setConfig() [3/3]

virtual void setConfig ( const std::vector< float > cfg )

inlinevirtual

Sets a configuration to check for.

(can be used to display a configuration)

Parameters

it	A pointer to the configuration.

setStationaryObjectMargin()

void setStationaryObjectMargin ( float stationaryObjectMargin )

inline

setStationaryObjects()

void setStationaryObjects ( const StationaryObjectList & objList )

virtual

Friends And Related Symbol Documentation

armarx::GenericFactory

template<class IceBaseClass, class DerivedClass>

friend class armarx::GenericFactory

friend

Member Data Documentation

agentJoints

std::vector<VirtualRobot::RobotNodePtr> agentJoints

protected

agentSceneObj

VirtualRobot::RobotPtr agentSceneObj

protected

cd

VirtualRobot::CDManager cd

protected

The collision checker.

fileManager

memoryx::GridFileManagerPtr fileManager

protected

The file manager used to load objects.

isInitialized

bool isInitialized {false}

protected

Whether the collision check is initialized.

loadVisualizationModel

bool loadVisualizationModel {false}

protected

Whether the visualization model of objects/agents sould be loaded.

meshCache

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

mutableprotected

robotCache

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

mutableprotected

stationaryObjectSet

VirtualRobot::SceneObjectSetPtr stationaryObjectSet

protected

Initial value:

{
            new VirtualRobot::SceneObjectSet{"StationaryObjectSet"}}

The scene objects for stationary objects.

stationaryPlanes

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

protected

---

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

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