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, T. D. Barfoot, S. S. Srinivasa, "Informed sampling for asymptotically optimal path planning."
- IEEE Transactions on Robotics (T-RO), 34(4): 966-984, Aug. 2018. DOI: TRO.2018.2830331. arXiv: 1706.06454 [cs.RO]. Illustration video. Short description video.

Definition at line 60 of file ProlateHyperspheroid.h.

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

- ompl/util/ProlateHyperspheroid.h
- ompl/util/src/ProlateHyperspheroid.cpp