Inheritance diagram for CollisionSpace:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CollisionSpace (Robot *rob)

Robot *	getRobot ()

int	getNbCellsOverX (void)

int	getNbCellsOverY (void)

int	getNbCellsOverZ (void)

BodySurfaceSampler *	getBodySampler ()

void	init (void)

std::vector< CollisionSpaceCell * >	getCellListForObject (obj *obj, const Eigen::Affine3d &Trans)

std::vector< CollisionSpaceCell * >	getOccupiedCells ()

void	resetOccupationCells ()

void	updateRobotOccupationCells (Robot *rob)

bool	areCellsValid (const std::vector< CollisionSpaceCell * > &cells)

void	unvalidObjectCells (obj *obj)

bool	collisionCheck ()

void	addRobotBody (Joint *jnt)

void	addRobot (Robot *rob)

void	addAllPointsToField ()

double	addPointsToField (const std::vector< Eigen::Vector3d > &points)

void	initNeighborhoods ()

int	getDirectionNumber (int dx, int dy, int dz) const

double	getDistanceGradient (const Eigen::Vector3d &point, Eigen::Vector3d &gradient) const
	Computes the finiate differenting gradient.

double	getDistance (CollisionSpaceCell *cell) const

bool	getCollisionPointPotentialGradient (const CollisionPoint &collision_point, const Eigen::Vector3d &collision_point_pos, double &distance, double &potential, Eigen::Vector3d &gradient) const
	The distance potential and the gradient is computed for a collision point First the distance d of the collision point (sphere) to the closest obstacle is computed Then 3 cases apear to compute the potential. More...

bool	isRobotColliding (double &distance) const
	Goes through all points and computes whether the robot is colliding Computes the transform of all point from the joint transform Uses the potential gradient function.

void	drawSquaredDist ()

void	drawGradient ()

void	drawStaticVoxels ()
	Draws a sphere in all voxels the color of the sphere represent the distance to the nearest obstacle.

void	drawCollisionPoints ()

void	draw ()
	Draw a openGl view of the grid.

Public Member Functions inherited from API::ThreeDGrid
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ThreeDGrid ()
	Constructor. More...

	ThreeDGrid (Eigen::Vector3i size, std::vector< double > envSize)

	ThreeDGrid (double samplingRate, std::vector< double > envSize)

	ThreeDGrid (const ThreeDGrid &grid)
	Copy.

virtual	~ThreeDGrid ()
	Destructor.

void	createAllCells ()
	Creates All Cells. More...

Eigen::Vector3d	getCellSize ()

unsigned int	getXNumberOfCells () const

unsigned int	getYNumberOfCells () const

unsigned int	getZNumberOfCells () const

ThreeDCell *	getCell (unsigned int x, unsigned int y, unsigned int z) const
	Retruns the Cell at (x,y,z) More...

ThreeDCell *	getCell (Eigen::Vector3i cell) const

ThreeDCell *	getCell (const Eigen::Vector3d &pos) const

ThreeDCell *	getCell (double *pos) const
	Get Cell in 3D ThreeDGrid. More...

Eigen::Vector3i	getCellCoord (ThreeDCell *ptrCell) const
	Get place in grid. More...

ThreeDCell *	getNeighbour (const Eigen::Vector3i &pos, unsigned int i) const
	Get Neighboor Cell.

Eigen::Vector3d	getCoordinates (ThreeDCell *cell) const
	Retrive the X Y Z coordinate of the cell from its index.

unsigned int	getXlineOfCell (unsigned int ith)

unsigned int	getYlineOfCell (unsigned int ith)

unsigned int	getZlineOfCell (unsigned int ith)

bool	writeToXmlFile (std::string file)
	Writes the grid to en xml file.

bool	loadFromXmlFile (std::string file)
	Reads the grid from an xml file.

Public Member Functions inherited from API::BaseGrid
	BaseGrid (const BaseGrid &grid)

BaseCell *	getCell (unsigned int i)
	Get Cell. More...

unsigned int	getNumberOfCells ()
	Get Number Of Cells.

virtual std::vector < Eigen::Vector3d >	getBox ()

std::string	getName ()

Protected Member Functions
API::ThreeDCell *	createNewCell (unsigned int index, unsigned int x, unsigned int y, unsigned int z)
	Virtual function that creates a new Cell. More...

Protected Member Functions inherited from API::ThreeDGrid
Eigen::Vector3d	computeCellCorner (unsigned int x, unsigned int y, unsigned int z)
	Computes the corner of a cell. More...

Additional Inherited Members
Protected Attributes inherited from API::ThreeDGrid
Eigen::Vector3d	_originCorner

Eigen::Vector3d	_cellSize

unsigned int	_nbCellsX

unsigned int	_nbCellsY

unsigned int	_nbCellsZ

Protected Attributes inherited from API::BaseGrid
std::vector< BaseCell * >	_cells

std::string	m_name

Member Function Documentation

API::ThreeDCell * CollisionSpace::createNewCell	(	unsigned int	index,
		unsigned int	x,
		unsigned int	y,
		unsigned int	z
	)

protectedvirtual

Virtual function that creates a new Cell.

Parameters

integer	index
integer	x
integer	y
integer	z

Reimplemented from API::ThreeDGrid.

void CollisionSpace::drawGradient ( )

 Eigen::Vector3d axis = //gradient.cross(unitX).length() > 0 ?  
 gradient.cross(Eigen::Vector3d::UnitX()); // : unitY;
 double angle = -gradient.dot(Eigen::Vector3d::UnitX());

 Eigen::Affine3d t = Eigen::AngleAxisd(angle,axis) * Eigen::Translation3d(point);

 p3d_matrix4 mat;
 for (unsigned int i=0; i<4; i++) {
 for (unsigned int j=0;j<4; j++) {
 mat[i][j] =  t(i,j);

cout << t.matrix() << endl; } } g3d_draw_frame(mat, 0.10);

bool CollisionSpace::getCollisionPointPotentialGradient	(	const CollisionPoint &	collision_point,
		const Eigen::Vector3d &	collision_point_pos,
		double &	field_distance,
		double &	potential,
		Eigen::Vector3d &	gradient
	)		const

The distance potential and the gradient is computed for a collision point First the distance d of the collision point (sphere) to the closest obstacle is computed Then 3 cases apear to compute the potential.

0 if this distance is greater than the coll point clearance

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

src/planner/Greedy/CollisionSpace.hpp
src/planner/Greedy/CollisionSpace.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation