Public Member Functions
	BodySurfaceSampler (double step)

void	computeObjectPointCloud (obj *obj, PointCloud &pointCloud, bool isRobot=false)
	Computes a point cloud for an object. More...

void	computeStaticObjectsPointCloud ()

void	computeRobotBodiesPointCloud (Robot *rob)

void	computeAllRobotsBodiesPointCloud ()

bool	isPointInEnvironment (const Eigen::Vector3d &point)

bool	isPointOverGround (const Eigen::Vector3d &point)

PointCloud &	getPointCloud (obj *o)

BoundingCylinder *	generateBoudingCylinder (p3d_obj *obj)

double	generateRobotBoudingCylinder (Robot rob, const std::vector< Joint > &activeJoints)
	returns the max radius

void	generateAllRobotsBoundingCylinders ()
	Computes collision points for all bodies.

std::vector< CollisionPoint >	getLinksCollisionPoints (Joint *jnt, int segment_number, const std::vector< int > &parent_joints)
	Generates the collision point for a given link Stores the segment number (the id of the joint for planning) Also store the parent joints of the link.

std::vector< CollisionPoint >	generateJointCollisionPoints (Robot *robot, int id, const std::vector< int > &active_joints, const std::vector< int > &planner_joints)
	Computes the parent joints, the segment of the joint and generate the collision point for the joint supposing that the bounding cylinder has been computed before.

std::vector< CollisionPoint >	generateRobotCollisionPoints (Robot *robot, const std::vector< int > &active_joints, const std::vector< int > &planner_joints)
	Generate the collision points for links associated to the active joints It computes the parent joints of the joint.

std::vector< CollisionPoint >	generateAllRobotCollisionPoints (Robot *robot)
	Generate the collision points for links associated to the active joints It computes the parent joints of the joint.

std::vector< CollisionPoint > &	getCollisionPoints (Joint *jnt)

double	getDefaultClearance ()

void	draw ()
	Draw the sampled points Sampled points are points on the surface of static obstacles collision points are computed by bounding cylinders.

Member Function Documentation

void BodySurfaceSampler::computeObjectPointCloud	(	obj *	obj,
		PointCloud &	pointCloud,
		bool	isRobot = `false`
	)

Computes a point cloud for an object.

Discard points of they are not in the evironment box also dicard points of they are bellow 0 in z (bellow ground) this enables a pading while keeping a ground object for the calssical collision checker based algorithm

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

src/planner/Greedy/BodySurfaceSampler.hpp
src/planner/Greedy/BodySurfaceSampler.cpp

Public Member Functions

Member Function Documentation