GeometricComputations Class Reference

Public Member Functions
p3d_point	getRandomPointInTriangle (p3d_point A, p3d_point B, p3d_point C)
p3d_point	getRandomPointInRectangle (p3d_point A, p3d_point B, p3d_point C, p3d_point D)
	a-—b | | c-—d .p b and c should be opposite
std::vector< p3d_point >	getLowerPointsInObject (Robot *obj, double steepness)
	get lower BB points of the object
std::vector< p3d_point >	getUpperPointsInObject (Robot *obj, double steepness)
	get higher BB points of the object
p3d_point	getCenterOfObj (Robot *obje)
p3d_point	getBotomCenterOfObj (Robot *obje, double threshhold)
double	compute_triangle_area_x_y2 (p3d_point a, p3d_point b, p3d_point c)
bool	point_in_rect2 (p3d_point a, p3d_point b, p3d_point c, p3d_point d, p3d_point x)
	a-—b | | c-—d .x b and c should be opposite
bool	point_in_segment2d (p3d_point a, p3d_point b, p3d_point x)
	a-—b .x More...
double	distBetweenPoints (p3d_point a, p3d_point b)
double	distBetweenMatrix4 (p3d_matrix4 a, p3d_matrix4 b)
	distance between the points in the p3d_matrix4
double	distBetweenPoints2D (p3d_point a, p3d_point b)
bool	hexahedron_in_hexahedron (p3d_point x1, p3d_point x2, p3d_point x3, p3d_point x4, p3d_point x5, p3d_point x6, p3d_point x7, p3d_point x8, p3d_point y1, p3d_point y2, p3d_point y3, p3d_point y4, p3d_point y5, p3d_point y6, p3d_point y7, p3d_point y8)
	test if four points of hexahedron y are in hexahedron x
bool	point_in_hexahedron (p3d_point a, p3d_point b, p3d_point c, p3d_point d, p3d_point e, p3d_point f, p3d_point g, p3d_point h, p3d_point x)
	c-—d /| /| a-—b h |/g |/ e-—f .x b and c should be opposite
double	compute_pyramid_area (p3d_point a, p3d_point b, p3d_point c, p3d_point d, p3d_point h)
	a-—b | .h | c-—d b and c should be opposite
std::vector< p3d_point >	getRandomPointsInHexahedron (double nbPoints, p3d_point a, p3d_point b, p3d_point c, p3d_point d, p3d_point e, p3d_point f, p3d_point g, p3d_point h)
	b-—d / /| a-f–c h |/ |/ e-—g b and c should be opposite
p3d_point	getClosestBBPointFromPoint (Robot *e, p3d_point s)
ParallelepipedForm	getBoxFromObjects (std::vector< Robot * > vr, Robot *gripper)
double	distConfs (confPtr_t q1, confPtr_t q2)
	The euclidian distance between 2 confs.
std::vector< p3d_point >	getSampled (std::vector< p3d_point > vp, double sampleRate)
	sample more finely a list of points More...
double	computeCost (std::vector< p3d_point > vHP, std::vector< p3d_point > vp, double angleWeight, double distHWeight, double distWeight)
	vHP is the list of human positions (z is the orientation) and vp is the list of points to asses (can be only one point) More...
std::vector< p3d_point >	smoothTraj (std::vector< p3d_point > origTraj, std::vector< p3d_point > vHP, Robot *r, int nbIterMax, double gainLim, double trajDistWeight, double distToHWeight, double angleWeight)
	vHP is the list of human positions (z is the orientation) and origTraj is the list of points to smooth More...

Member Function Documentation

double GeometricComputations::computeCost	(	std::vector< p3d_point >	vHP,
		std::vector< p3d_point >	vp,
		double	angleWeight,
		double	distHWeight,
		double	distWeight
	)

vHP is the list of human positions (z is the orientation) and vp is the list of points to asses (can be only one point)

vHP is the list of human positions (z is the orientation) and vp is the list of points to asses (can e only one point)

Returns

: human aware cost for a set of robot positions.

double GeometricComputations::distBetweenPoints	(	p3d_point	a,
		p3d_point	b
	)

Returns

: euclidien distance between a and b

double GeometricComputations::distBetweenPoints2D	(	p3d_point	a,
		p3d_point	b
	)

Returns

: euclidien distance between a and b (in 2d, not accounting for z)

p3d_point GeometricComputations::getBotomCenterOfObj	(	Robot *	obje,
		double	threshhold
	)

Returns

: the center point of the botom rectangle of the BB

p3d_point GeometricComputations::getCenterOfObj

(

Robot *

obje

)

Returns

: the center point of the BB

vector< p3d_point > GeometricComputations::getSampled	(	std::vector< p3d_point >	vp,
		double	sampleRate
	)

sample more finely a list of points

bool GeometricComputations::point_in_segment2d	(	p3d_point	a,
		p3d_point	b,
		p3d_point	x
	)

a-—b .x

Returns

: true if x is between a and b, false otherwise.

vector< p3d_point > GeometricComputations::smoothTraj	(	std::vector< p3d_point >	origTraj,
		std::vector< p3d_point >	vHP,
		Robot *	r,
		int	nbIterMax,
		double	gainLim,
		double	trajDistWeight,
		double	distToHWeight,
		double	angleWeight
	)

vHP is the list of human positions (z is the orientation) and origTraj is the list of points to smooth

Returns

a smoothed traj, based on human aware costs.

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

• src/GTP/GTPTools/geometricTools/geometricComputations.hpp
• src/GTP/GTPTools/geometricTools/geometricComputations.cpp