AtlasChart.cpp
45 ompl::base::AtlasChart::Halfspace::Halfspace(const AtlasChart *owner, const AtlasChart *neighbor) : owner_(owner)
56 bool ompl::base::AtlasChart::Halfspace::contains(const Eigen::Ref<const Eigen::VectorXd> &v) const
61 void ompl::base::AtlasChart::Halfspace::checkNear(const Eigen::Ref<const Eigen::VectorXd> &v) const
72 bool ompl::base::AtlasChart::Halfspace::circleIntersect(const double r, Eigen::Ref<Eigen::VectorXd> v1,
130 double ompl::base::AtlasChart::Halfspace::distanceToPoint(const Eigen::Ref<const Eigen::VectorXd> &v) const
136 void ompl::base::AtlasChart::Halfspace::expandToInclude(const Eigen::Ref<const Eigen::VectorXd> &x)
152 ompl::base::AtlasChart::AtlasChart(const AtlasStateSpace *atlas, const AtlasStateSpace::StateType *state)
185 void ompl::base::AtlasChart::phi(const Eigen::Ref<const Eigen::VectorXd> &u, Eigen::Ref<Eigen::VectorXd> out) const
190 bool ompl::base::AtlasChart::psi(const Eigen::Ref<const Eigen::VectorXd> &u, Eigen::Ref<Eigen::VectorXd> out) const
238 bool ompl::base::AtlasChart::inPolytope(const Eigen::Ref<const Eigen::VectorXd> &u, const Halfspace *const ignore1,
262 const ompl::base::AtlasChart *ompl::base::AtlasChart::owningNeighbor(const Eigen::Ref<const Eigen::VectorXd> &x) const
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:89
double gaussian01()
Generate a random real using a normal distribution with mean 0 and variance 1.
Definition: RandomNumbers.h:157
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
A state in an atlas represented as a real vector in ambient space and a chart that it belongs to.
Definition: AtlasStateSpace.h:167
const AtlasChart * owningNeighbor(const Eigen::Ref< const Eigen::VectorXd > &x) const
Try to find an owner for ambient point \x from among the neighbors of this chart. Returns nullptr if ...
Definition: AtlasChart.cpp:262
const Constraint * constraint_
The constraint function that defines the manifold.
Definition: AtlasChart.h:335
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
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
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
ConstrainedStateSpace encapsulating a planner-agnostic atlas algorithm for planning on a constraint m...
Definition: AtlasStateSpace.h:159
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 addBoundary(Halfspace *halfspace)
Introduce a new halfspace to the chart's bounding polytope. This chart assumes responsibility for del...
Definition: AtlasChart.cpp:387
Tangent space and bounding polytope approximating some patch of the manifold.
Definition: AtlasChart.h:116
void clear()
Forget all acquired information such as the halfspace boundary.
Definition: AtlasChart.cpp:177
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,...
Definition: AtlasChart.cpp:256
virtual void jacobian(const State *state, Eigen::Ref< Eigen::MatrixXd > out) const
Compute the Jacobian of the constraint function at state. Result is returned in out,...
Definition: Constraint.cpp:45
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
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