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libmove3d-planners
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Public Member Functions | |
| NaturalGrid (std::vector< int > size) | |
| NaturalGrid (double pace, std::vector< double > envSize, Natural *costSpace) | |
| NaturalGrid (const NaturalGrid &grid) | |
| void | setGridOrigin () |
| API::ThreeDCell * | createNewCell (unsigned int index, unsigned int x, unsigned int y, unsigned int z) |
| Virtual function that creates a new Cell. More... | |
| void | computeAllCellCost () |
| Compute Grid Cost. | |
| int | robotConfigInCell (int i) |
| get Config | |
| Eigen::Affine3d | getTransformFromRobotPos () |
| Get the Transform Matrix between the robot and the grid point | |
| Eigen::Vector3d | getTranformedToRobotFrame (const Eigen::Vector3d &WSPoint) |
| Transform the point to the robot frame. | |
| bool | isInReachableGrid (const Eigen::Vector3d &WSPoint) |
| bool | isReachable (const Eigen::Vector3d &WSPoint) |
| Returns wether a point is reachable in the natural grid. | |
| bool | isReachableWithRA (const Eigen::Vector3d &WSPoint) |
| bool | isReachableWithLA (const Eigen::Vector3d &WSPoint) |
| double | getCellCostAt (const Eigen::Vector3d &WSPoint) |
| Get the cell containing WSPoint and returns the cost. | |
| void | drawVector (const std::vector< std::pair< double, NaturalCell * > > &cells) |
| void | draw () |
| Draw a openGl view of the grid. | |
| std::vector< Eigen::Vector3d > | getBox () |
| void | resetCellCost () |
| Reset Grid Cost. | |
| void | resetReachability () |
| Reset Grid Reachability. | |
| void | initReachable () |
| Compute Grid Accecibility whith right and left hand ! More... | |
| NaturalGrid * | mergeWith (NaturalGrid *otherGrid) |
| Fusion Grid | |
| std::vector< NaturalCell * > | getAllReachableCells () |
| Reachable Cells return all reachable cells by the human | |
| std::vector< NaturalCell * > | getAllReachableCellsOneArm (bool right_arm) |
| Reachable Cells return all reachable by one arm | |
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std::vector< std::pair< double, NaturalCell * > > | getAllReachableCellsSorted () |
| Reachable Cells sorted | |
| std::vector< NaturalCell * > | getAllReachableCells (double CostThreshold) |
| Get all reachable bellow some threshold cost. | |
| void | setNaturalCostSpace (Natural *NCS) |
| Natural * | getNaturalCostSpace () |
| Eigen::Affine3d | getRobotOrigin () |
| Robot * | getRobot () |
| bool | writeToXmlFile (std::string docname) |
| Writes the grid to en xml file. | |
| bool | loadFromXmlFile (std::string docname) |
| Reads the grid from an xml file. | |
 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) |
| 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. | |
| std::string | getName () |
Additional Inherited Members | |
| 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... | |
| 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 |
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virtual |
Virtual function that creates a new Cell.
| integer | index |
| integer | x |
| integer | y |
| integer | z |
Reimplemented from API::ThreeDGrid.
| void NaturalGrid::initReachable | ( | ) |
Compute Grid Accecibility whith right and left hand !
Init Reach
1.8.6