Tangent space and bounding polytope approximating some patch of the manifold. More...

#include <ompl/base/spaces/constraint/AtlasChart.h>

Public Member Functions
	AtlasChart (const AtlasChart &)=delete

AtlasChart &	operator= (const AtlasChart &)=delete

	AtlasChart (const AtlasStateSpace atlas, const AtlasStateSpace::StateType state)
	Create a tangent space chart for atlas with center at ambient space point xorigin. More...

	~AtlasChart ()
	Destructor.

void	clear ()
	Forget all acquired information such as the halfspace boundary.

const AtlasStateSpace::StateType *	getOrigin () const
	Returns phi(0), the center of the chart in ambient space.

unsigned int	getAmbientDimension () const
	Returns the dimension of the ambient space.

unsigned int	getManifoldDimension () const
	Returns the dimension of the manifold.

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 allocated to size n_.

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, which should be allocated to size n_.

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, which should be allocated to size k_.

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 halfspaces if specified in ignore1 and ignore2.

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, expand the neighboring chart's boundary to include.

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 none found.

bool	toPolygon (std::vector< Eigen::VectorXd > &vertices) const
	For manifolds of dimension 2, return in order in vertices the polygon boundary of this chart, including an approximation of the circular boundary where the polygon exceeds radius rho_. Returns true if a circular portion is included.

std::size_t	getNeighborCount () const
	Returns the number of charts this chart shares a halfspace boundary with.

bool	estimateIsFrontier () const
	Use sampling to make a quick estimate as to whether this chart's polytope boundary is completely defined by its halfspaces.

Static Public Member Functions
static void	generateHalfspace (AtlasChart c1, AtlasChart c2)
	Create two complementary halfspaces dividing the space between charts c1 and c2, and add them to the charts' polytopes boundaries. More...

Protected Member Functions
void	addBoundary (Halfspace *halfspace)
	Introduce a new halfspace to the chart's bounding polytope. This chart assumes responsibility for deleting halfspace. More...

Protected Attributes
const Constraint *	constraint_
	The constraint function that defines the manifold.

std::vector< Halfspace * >	polytope_
	Set of halfspaces defining the polytope boundary.

Detailed Description

Tangent space and bounding polytope approximating some patch of the manifold.

Definition at line 116 of file AtlasChart.h.

Constructor & Destructor Documentation

◆ AtlasChart()

ompl::base::AtlasChart::AtlasChart	(	const AtlasStateSpace *	atlas,
		const AtlasStateSpace::StateType *	state
	)

Create a tangent space chart for atlas with center at ambient space point xorigin.

AtlasChart.

Exceptions

ompl::Exception when manifold seems degenerate here.

Public

Definition at line 152 of file AtlasChart.cpp.

Member Function Documentation

◆ addBoundary()

void ompl::base::AtlasChart::addBoundary ( Halfspace * halfspace )

protected

Introduce a new halfspace to the chart's bounding polytope. This chart assumes responsibility for deleting halfspace.

Protected.

Definition at line 387 of file AtlasChart.cpp.

◆ generateHalfspace()

void ompl::base::AtlasChart::generateHalfspace	(	AtlasChart *	c1,
		AtlasChart *	c2
	)

static

Create two complementary halfspaces dividing the space between charts c1 and c2, and add them to the charts' polytopes boundaries.

Public Static.

Note: Charts must be different charts from the same atlas.

Definition at line 369 of file AtlasChart.cpp.

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

ompl/base/spaces/constraint/AtlasChart.h
ompl/base/spaces/constraint/src/AtlasChart.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions