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libmove3d-planners
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libmove3d-planners
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Public Member Functions | |
| FactsManager (Scene *scen) | |
| void | initAll () |
| bool | disableFacts (std::string s) |
| bool | enableFacts (std::string s) |
| bool | isFactEnabled (std::string s) |
| bool | computeVisibility (WorldStateFacts *WS, Robot *mainEntity, Robot *targetEntity, bool forceRecompute) |
| computing visibility fact for now, it is done roughly a first loop check if the center of mass of the target object is in the fov second check the oclusions, and keep the percent of oject seen repeat same procedure for a larger fov (representing head motion | |
| bool | computeReachability (WorldStateFacts *WS, Robot *mainEntity, Robot *targetEntity, bool forceRecompute) |
| the hand will be stocked in the sepecific value 2 hand considered | |
| bool | computeIsOn (WorldStateFacts *WS, Robot *mainEntity, Robot *targetEntity, bool forceRecompute) |
| computation of is On fact an object A is On another one B in the next conditions: The center of A is within the boundaries of the BB of B B is not too tilted (less then 15deg) TODO: Is On needs to go all the way to the ground (passing through multiple objects; Is On is not computed for object with multiple joints (BB computation problems) is above is a special case where there is no contact | |
| bool | computeIsIn (WorldStateFacts *WS, Robot *mainEntity, Robot *targetEntity, bool forceRecompute) |
| Compute is insinde fact is in means at least half of the mainobject is in the OBB of the target object no agents. More... | |
| bool | computeIsNextTo (WorldStateFacts *WS, Robot *mainEntity, Robot *targetEntity, bool forceRecompute) |
| computation of is next to fact an object is next to another if the closest distance between those two is smaller than isNextToDist (0.2m) NOTE: if an object is next to another, the inverse is also true! | |
| bool | computeSize (WorldStateFacts *WS, Robot *mainEntity, Robot *targetEntity, bool forceRecompute) |
| bool | computeClutter (WorldStateFacts *WS, Robot *mainEntity, Robot *targetEntity, bool forceRecompute) |
| bool | computeRobotVisibility (WorldStateFacts *WS, Robot *mainEntity, bool forceRecompute) |
| bool | computeRobotReachability (WorldStateFacts *WS, Robot *mainEntity, bool forceRecompute) |
| bool | computeRobotIsOn (WorldStateFacts *WS, Robot *mainEntity, bool forceRecompute) |
| bool | computeRobotIsIn (WorldStateFacts *WS, Robot *mainEntity, bool forceRecompute) |
| bool | computeRobotIsNextTo (WorldStateFacts *WS, Robot *mainEntity, bool forceRecompute) |
| bool | computeRobotSize (WorldStateFacts *WS, Robot *mainEntity, bool forceRecompute) |
| bool | computeRobotClutter (WorldStateFacts *WS, Robot *mainEntity, bool forceRecompute) |
| bool | computeAllVisibilities (WorldStateFacts *WS, bool forceRecompute) |
| bool | computeAllReachabilities (WorldStateFacts *WS, bool forceRecompute) |
| bool | computeAllIsOn (WorldStateFacts *WS, bool forceRecompute) |
| bool | computeAllIsIn (WorldStateFacts *WS, bool forceRecompute) |
| bool | computeAllIsNextTo (WorldStateFacts *WS, bool forceRecompute) |
| bool | computeAllSize (WorldStateFacts *WS, bool forceRecompute) |
| bool | computeAllClutter (WorldStateFacts *WS, bool forceRecompute) |
| bool | computeFacts (WorldStateFacts *WS, bool forceRecompute) |
| bool | computeFacts (int WSid, bool forceRecompute) |
| int | computeFacts (bool forceRecompute) |
| int | findWorldStateFacts (WorldStateFacts *WS) |
| int | findOrAddWorldStateFacts (WorldStateFacts *WS) |
| int | findCurWorldStateFacts () |
| void | setFactToFalse (WorldStateFacts *WS, fact_id ft, Robot *mainEntity, Robot *targetEntity) |
| bool | cleanWSList () |
| bool | computeOneFact (WorldStateFacts *WSF, std::string fact, Robot *mainEntity) |
| std::vector< Fact > | computeAndGetFact (std::string fact, Robot *mainEntity) |
| Fact | computeAndGetFact (std::string fact, std::string factSubType, Robot *mainEntity, Robot *targetEntity) |
| WorldStateFacts * | getWSFromId (int WSid) |
| std::vector< fact_id > | getFactList () |
| bool FactsManager::computeIsIn | ( | WorldStateFacts * | WS, |
| Robot * | mainEntity, | ||
| Robot * | targetEntity, | ||
| bool | forceRecompute | ||
| ) |
Compute is insinde fact is in means at least half of the mainobject is in the OBB of the target object no agents.
1.8.6