ompl::app::RigidBodyGeometry Class Reference
Inheritance diagram for ompl::app::RigidBodyGeometry:

Public Member Functions

 RigidBodyGeometry (MotionModel mtype, CollisionChecker ctype)
 Constructor expects a state space that can represent a rigid body. More...
 
 RigidBodyGeometry (MotionModel mtype)
 Constructor expects a state space that can represent a rigid body. More...
 
MotionModel getMotionModel () const
 
CollisionChecker getCollisionCheckerType () const
 
bool hasEnvironment () const
 
bool hasRobot () const
 
unsigned int getLoadedRobotCount () const
 
aiVector3D getRobotCenter (unsigned int robotIndex) const
 Get the robot's center (average of all the vertices of all its parts)
 
virtual bool setEnvironmentMesh (const std::string &env)
 This function specifies the name of the CAD file representing the environment (env). Returns 1 on success, 0 on failure.
 
virtual bool addEnvironmentMesh (const std::string &env)
 This function specifies the name of the CAD file representing a part of the environment (env). Returns 1 on success, 0 on failure.
 
virtual bool setRobotMesh (const std::string &robot)
 This function specifies the name of the CAD file representing the robot (robot). Returns 1 on success, 0 on failure.
 
virtual bool addRobotMesh (const std::string &robot)
 This function specifies the name of the CAD file representing a part of the robot (robot). Returns 1 on success, 0 on failure.
 
virtual void setStateValidityCheckerType (CollisionChecker ctype)
 Change the type of collision checking for the rigid body.
 
const base::StateValidityCheckerPtrallocStateValidityChecker (const base::SpaceInformationPtr &si, const GeometricStateExtractor &se, bool selfCollision)
 Allocate default state validity checker using PQP.
 
const GeometrySpecificationgetGeometrySpecification () const
 
void setBoundsFactor (double factor)
 The bounds of the environment are inferred based on the axis-aligned bounding box for the objects in the environment. The inferred size is multiplied by factor. By default factor = 1,.
 
double getBoundsFactor () const
 Get the data set by setBoundsFactor()
 
void setBoundsAddition (double add)
 The bounds of the environment are inferred based on the axis-aligned bounding box for the objects in the environment. add is added to the inferred size. By default add = 0,.
 
double getBoundsAddition () const
 Get the data set by setBoundsAddition()
 
base::RealVectorBounds inferEnvironmentBounds () const
 Given the representation of an environment, infer its bounds. The bounds will be 2-dimensional when planning in 2D and 3-dimensional when planning in 3D.
 

Protected Member Functions

void computeGeometrySpecification ()
 

Protected Attributes

MotionModel mtype_
 
double factor_
 The factor to multiply inferred environment bounds by (default 1)
 
double add_
 The value to add to inferred environment bounds (default 0)
 
std::vector< std::shared_ptr< Assimp::Importer > > importerEnv_
 Instance of assimp importer used to load environment.
 
std::vector< std::shared_ptr< Assimp::Importer > > importerRobot_
 Instance of assimp importer used to load robot.
 
GeometrySpecification geom_
 Object containing mesh data for robot and environment.
 
base::StateValidityCheckerPtr validitySvc_
 Instance of the state validity checker for collision checking.
 
CollisionChecker ctype_
 Value containing the type of collision checking to use.
 

Detailed Description

Definition at line 41 of file RigidBodyGeometry.h.

Constructor & Destructor Documentation

◆ RigidBodyGeometry() [1/2]

ompl::app::RigidBodyGeometry::RigidBodyGeometry ( MotionModel  mtype,
CollisionChecker  ctype 
)
inlineexplicit

Constructor expects a state space that can represent a rigid body.

Parameters
mtypeThe motion model (2D or 3D) for the rigid body.
ctypeThe type of collision checker to use for rigid body planning.

Definition at line 49 of file RigidBodyGeometry.h.

◆ RigidBodyGeometry() [2/2]

ompl::app::RigidBodyGeometry::RigidBodyGeometry ( MotionModel  mtype)
inlineexplicit

Constructor expects a state space that can represent a rigid body.

Parameters
mtypeThe motion model (2D or 3D) for the rigid body.
Remarks
This constructor defaults to a PQP state validity checker

Definition at line 57 of file RigidBodyGeometry.h.


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