AtlasChart.h
86 bool circleIntersect(double r, Eigen::Ref<Eigen::VectorXd> v1, Eigen::Ref<Eigen::VectorXd> v2) const;
91 static void intersect(const Halfspace &l1, const Halfspace &l2, Eigen::Ref<Eigen::VectorXd> out);
195 void psiInverse(const Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out) const;
void borderCheck(const Eigen::Ref< const Eigen::VectorXd > &v) const
Check if chart point v lies very close to any part of the boundary. Wherever it does, expand the neighboring chart's boundary to include.
Definition: AtlasChart.cpp:256
unsigned int getAmbientDimension() const
Returns the dimension of the ambient space.
Definition: AtlasChart.h:170
ConstrainedStateSpace encapsulating a planner-agnostic atlas algorithm for planning on a constraint m...
Definition: AtlasStateSpace.h:128
unsigned int getManifoldDimension() const
Returns the dimension of the manifold.
Definition: AtlasChart.h:176
const Constraint * constraint_
The constraint function that defines the manifold.
Definition: AtlasChart.h:239
A state in an atlas represented as a real vector in ambient space and a chart that it belongs to...
Definition: AtlasStateSpace.h:136
Tangent space and bounding polytope approximating some patch of the manifold.
Definition: AtlasChart.h:52
bool inPolytope(const Eigen::Ref< const Eigen::VectorXd > &u, const Halfspace *ignore1=nullptr, const Halfspace *ignore2=nullptr) const
Check if a point u on the chart lies within its polytope boundary. Can ignore up to 2 of the halfspac...
Definition: AtlasChart.cpp:238
bool estimateIsFrontier() const
Use sampling to make a quick estimate as to whether this chart's polytope boundary is completely defi...
Definition: AtlasChart.cpp:352
bool psi(const Eigen::Ref< const Eigen::VectorXd > &u, Eigen::Ref< Eigen::VectorXd > out) const
Exponential mapping. Project chart point u onto the manifold and store the result in out...
Definition: AtlasChart.cpp:190
void psiInverse(const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::Ref< Eigen::VectorXd > out) const
Logarithmic mapping. Project ambient point x onto the chart and store the result in out...
Definition: AtlasChart.cpp:232
std::vector< Halfspace * > polytope_
Set of halfspaces defining the polytope boundary.
Definition: AtlasChart.h:242
void phi(const Eigen::Ref< const Eigen::VectorXd > &u, Eigen::Ref< Eigen::VectorXd > out) const
Rewrite a chart point u in ambient space coordinates and store the result in out, which should be all...
Definition: AtlasChart.cpp:185
const AtlasStateSpace::StateType * getOrigin() const
Returns phi(0), the center of the chart in ambient space.
Definition: AtlasChart.h:164
Definition of a differentiable holonomic constraint on a configuration space. See Constrained Plannin...
Definition: Constraint.h:75
void clear()
Forget all acquired information such as the halfspace boundary.
Definition: AtlasChart.cpp:177
static void generateHalfspace(AtlasChart *c1, AtlasChart *c2)
Create two complementary halfspaces dividing the space between charts c1 and c2, and add them to the ...
Definition: AtlasChart.cpp:369
const AtlasChart * owningNeighbor(const Eigen::Ref< const Eigen::VectorXd > &x) const
Try to find an owner for ambient point from among the neighbors of this chart. Returns nullptr if no...
Definition: AtlasChart.cpp:262
void addBoundary(Halfspace *halfspace)
Introduce a new halfspace to the chart's bounding polytope. This chart assumes responsibility for del...
Definition: AtlasChart.cpp:387
bool toPolygon(std::vector< Eigen::VectorXd > &vertices) const
For manifolds of dimension 2, return in order in vertices the polygon boundary of this chart...
Definition: AtlasChart.cpp:283
std::size_t getNeighborCount() const
Returns the number of charts this chart shares a halfspace boundary with.
Definition: AtlasChart.h:221