ompl::ProlateHyperspheroid Class Reference

A class describing a prolate hyperspheroid, a special symmetric type of n-dimensional ellipse, for use in direct informed sampling for problems seeking to minimize path length. More...

#include <ompl/util/ProlateHyperspheroid.h>

## Public Member Functions

ProlateHyperspheroid (unsigned int n, const double focus1[], const double focus2[])
The description of an n-dimensional prolate hyperspheroid.

void setTransverseDiameter (double transverseDiameter)
Set the transverse diameter of the PHS.

void transform (const double sphere[], double phs[]) const
Transform a point from a sphere to PHS. The return variable phs is expected to already exist.

bool isInPhs (const double point[]) const
Check if the given point lies in the PHS.

bool isOnPhs (const double point[]) const
Check if the given point lies on the PHS.

unsigned int getPhsDimension () const
The dimension of the PHS.

double getPhsMeasure () const
The measure of the PHS.

double getPhsMeasure (double tranDiam) const
The measure of the PHS for a given transverse diameter.

double getMinTransverseDiameter () const
The minimum transverse diameter of the PHS, i.e., the distance between the foci.

double getPathLength (const double point[]) const
Calculate length of a line that originates from one focus, passes through the given point, and terminates at the other focus, i.e., the transverse diameter of the ellipse on which the given sample lies.

unsigned int getDimension () const
The state dimension of the PHS.

## Detailed Description

A class describing a prolate hyperspheroid, a special symmetric type of n-dimensional ellipse, for use in direct informed sampling for problems seeking to minimize path length.

J. D. Gammell, S. S. Srinivasa, T. D. Barfoot, "Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic." In Proceedings
of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Chicago, IL, USA, 14-18 Sept. 2014. DOI: 10.1109/IROS.2014.6942976. Illustration video. Short description video.

Definition at line 61 of file ProlateHyperspheroid.h.

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