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;
266 }
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
std::size_t getNeighborCount() const
Returns the number of charts this chart shares a halfspace boundary with.
Definition: AtlasChart.h:317
std::vector< Halfspace * > polytope_
Set of halfspaces defining the polytope boundary.
Definition: AtlasChart.h:338
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
unsigned int getAmbientDimension() const
Returns the dimension of the ambient space.
Definition: AtlasChart.h:266
ompl::base::State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:142
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
void clear()
Forget all acquired information such as the halfspace boundary.
Definition: AtlasChart.cpp:177
unsigned int getManifoldDimension() const
Returns the dimension of the manifold.
Definition: AtlasChart.h:272
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
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
const AtlasStateSpace::StateType * getOrigin() const
Returns phi(0), the center of the chart in ambient space.
Definition: AtlasChart.h:260