Public Member Functions
Construction
	AbstractBoundingSphericalShell (const size_t _n, const double _outer=std::numeric_limits< double >::max(), const double _inner=0)

	AbstractBoundingSphericalShell (const std::vector< double > &_center, const double _outer=std::numeric_limits< double >::max(), const double _inner=0)

	AbstractBoundingSphericalShell (XMLNode &_node)

virtual	~AbstractBoundingSphericalShell () noexcept

Boundary Properties
virtual size_t	GetDimension () const noexcept override
	Get the dimension of this boundary. More...

virtual double	GetMaxDist (const double _r1=2.0, const double _r2=0.5) const override

virtual const Range< double > &	GetRange (const size_t _i) const override

virtual const std::vector< double > &	GetCenter () const noexcept override
	Get the boundary's center point. More...

virtual double	GetVolume () const noexcept override
	Get the boundary's volume (Lebesgue Measure). More...

Sampling
virtual std::vector< double >	GetRandomPoint () const override
	Get a random point inside the boundary. More...

virtual void	PushInside (std::vector< double > &_sample) const noexcept override

Containment Testing
virtual bool	InBoundary (const std::vector< double > &_p) const override

virtual bool	InBoundary (const Vector3d &_p) const

virtual bool	InBoundary (const std::vector< double > &_v) const=0

virtual bool	InBoundary (const Cfg &_c) const=0

Clearance Testing
virtual double	GetClearance (const Vector3d &_p) const override

virtual Vector3d	GetClearancePoint (const Vector3d &_p) const override

Modifiers
virtual void	SetCenter (const std::vector< double > &_c) noexcept override

virtual void	Translate (const Vector3d &_v) override

virtual void	Translate (const std::vector< double > &_t) override

virtual void	ResetBoundary (const std::vector< std::pair< double, double > > &_bbx, const double _margin) override

I/O
virtual void	Read (std::istream &_is, CountingStreamBuffer &_cbs) override

virtual void	Write (std::ostream &_os) const override

Property Accessors
virtual Space	Type () const noexcept=0
	Get the space type. More...

virtual std::string	Name () const noexcept=0
	Get the name of the boundary type. More...

Scaling
virtual void	ScalePoint (std::vector< double > &_point) const noexcept

virtual void	UnscalePoint (std::vector< double > &_point) const noexcept

Accessors
double	GetOuterRadius () const noexcept
	Get the outer radius.

double	GetInnerRadius () const noexcept
	Get the inner radius.

void	SetOuterRadius (const double _r) noexcept
	Set the outer radius.

void	SetInnerRadius (const double _r) noexcept
	Set the inner radius.

Point Testing
If the sphere and point have different dimensions, the missing values will be assumed to be 0.
bool	Contains (const std::vector< double > &_p) const noexcept

double	Clearance (std::vector< double > _p) const noexcept

std::vector< double >	ClearancePoint (std::vector< double > _p) const noexcept

Sampling
std::vector< double >	Sample () const

Public Types
Local Types
enum	Space { Workspace , CSpace }
	The types of space that can be modeled with boundaries.

Protected Member Functions
Containment Helpers
bool	InWorkspace (const Cfg &_c) const

bool	InCSpace (const Cfg &_c) const

Construction
virtual std::unique_ptr< Boundary >	Clone () const =0

static std::unique_ptr< Boundary >	Factory (XMLNode &_node)

Polyhedron Representations
virtual CGALPolyhedron	CGAL () const
	Create a CGAL polyhedron representation of this. More...

virtual GMSPolyhedron	MakePolyhedron () const

typedef CGAL::Exact_predicates_exact_constructions_kernel	CGALKernel

typedef CGAL::Polyhedron_3< CGALKernel >	CGALPolyhedron

Detailed Description

An n-dimensional bounding spherical shell.

Constructor & Destructor Documentation

◆ AbstractBoundingSphericalShell() [1/3]

AbstractBoundingSphericalShell::AbstractBoundingSphericalShell	(	const size_t	_n,
		const double	_outer = `std::numeric_limits<double>::max()`,
		const double	_inner = `0`
	)

explicit

Construct a bounding spherical shell at the origin with a fixed number of dimensions and radius.

Parameters

_n	The number of dimensions to use.
_outer	The outer radius (infinite by default).
_inner	The inner radius (0 by default).

◆ AbstractBoundingSphericalShell() [2/3]

AbstractBoundingSphericalShell::AbstractBoundingSphericalShell	(	const std::vector< double > &	_center,
		const double	_outer = `std::numeric_limits<double>::max()`,
		const double	_inner = `0`
	)

explicit

Construct a bounding spherical shell with a given center point and radius.

Parameters

_center	The center point, which is assumed to be of full dimension.
_outer	The outer radius (infinite by default).
_inner	The inner radius (0 by default).

◆ AbstractBoundingSphericalShell() [3/3]

AbstractBoundingSphericalShell::AbstractBoundingSphericalShell ( XMLNode & _node )

Construct a bounding spherical shell from an XML node.

Parameters

_node The XML node to parse.

Member Function Documentation

◆ GetDimension()

size_t AbstractBoundingSphericalShell::GetDimension ( ) const

overridevirtualnoexcept

Get the dimension of this boundary.

Implements Boundary.

◆ GetMaxDist()

double AbstractBoundingSphericalShell::GetMaxDist	(	const double	_r1 = `2.0`,
		const double	_r2 = `0.5`
	)		const

overridevirtual

Get the longest distance contained within the boundary. Supports any Minkowski distance.

Parameters

_r1	The term-wise power in the Minkowski difference.
_r2	The whole expression power in the Minkowski difference.

Implements Boundary.

◆ GetRange()

const Range< double > & AbstractBoundingSphericalShell::GetRange ( const size_t _i ) const

overridevirtual

Get the boundary range for a specific dimension.

Parameters

_i	The dimension index.

Returns: The range of values spanned by this boundary in dimension _i.

Implements Boundary.

◆ GetCenter()

const std::vector< double > & AbstractBoundingSphericalShell::GetCenter ( ) const

overridevirtualnoexcept

Get the boundary's center point.

Implements Boundary.

◆ GetVolume()

double AbstractBoundingSphericalShell::GetVolume ( ) const

overridevirtualnoexcept

Get the boundary's volume (Lebesgue Measure).

Implements Boundary.

◆ GetRandomPoint()

std::vector< double > AbstractBoundingSphericalShell::GetRandomPoint ( ) const

overridevirtual

Get a random point inside the boundary.

Implements Boundary.

◆ PushInside()

void AbstractBoundingSphericalShell::PushInside ( std::vector< double > & _point ) const

overridevirtualnoexcept

Minimally push a point so that it lies within the boundary.

Parameters

_point The point to push.

Implements Boundary.

◆ InBoundary() [1/4]

bool AbstractBoundingSphericalShell::InBoundary ( const std::vector< double > & _v ) const

overridevirtual

Test if a specific n-dimensional point lies within the boundary.

Parameters

_v	The point to test.

Returns: True if _v lies inside this boundary.

Implements Boundary.

Reimplemented in WorkspaceBoundingSphericalShell.

◆ GetClearance()

double AbstractBoundingSphericalShell::GetClearance ( const Vector3d & _p ) const

overridevirtual

Get the distance from a test point to the nearest point on the boundary.

Parameters

_p	The test point.

Returns: The distance from _p to the clearance point of _p.

Implements Boundary.

◆ GetClearancePoint()

Vector3d AbstractBoundingSphericalShell::GetClearancePoint ( const Vector3d & _p ) const

overridevirtual

Get the nearest point on the boundary to a test point.

Parameters

_p	The test point.

Returns: The point on this boundary nearest to _p.

Implements Boundary.

◆ SetCenter()

void AbstractBoundingSphericalShell::SetCenter ( const std::vector< double > & _c )

overridevirtualnoexcept

Move the boundary to a new center point.

Parameters

_c	The new center point for the boundary.

Implements Boundary.

◆ Translate() [1/2]

void AbstractBoundingSphericalShell::Translate ( const Vector3d & _v )

overridevirtual

Translate the boundary.

Parameters

_v	The offset to apply.

Implements Boundary.

◆ Translate() [2/2]

void AbstractBoundingSphericalShell::Translate ( const std::vector< double > & _t )

overridevirtual

Translate the boundary.

Parameters

_t	The offset to apply.

Implements Boundary.

◆ ResetBoundary()

void AbstractBoundingSphericalShell::ResetBoundary	(	const std::vector< std::pair< double, double > > &	_bbx,
		const double	_margin
	)

overridevirtual

Resize the boundary to fit inside a bounding box plus some margin.

Parameters

_bbx	The new base bounding box.
_margin	The additional margin for _bbx. Negative margins cause shrinkage.

Implements Boundary.

◆ Read()

void AbstractBoundingSphericalShell::Read	(	std::istream &	_is,
		CountingStreamBuffer &	_cbs
	)

overridevirtual

Read in a boundary.

Parameters

_is	The input stream to read from.
_cbs	The counting stream buffer for keeping track of where we are in the input stream.

Implements Boundary.

◆ Write()

void AbstractBoundingSphericalShell::Write ( std::ostream & _os ) const

overridevirtual

Write out a boundary.

Parameters

_os	The output stream to write to.

Implements Boundary.

◆ InBoundary() [2/4]

bool Boundary::InBoundary ( const Vector3d & _p ) const

virtual

Test if a specific point lies within the boundary.

Parameters

_p	The point to test.

Returns: True if _p lies inside this boundary.

Reimplemented from Boundary.

Reimplemented in WorkspaceBoundingSphericalShell.

◆ InBoundary() [3/4]

virtual bool Boundary::InBoundary ( const std::vector< double > & _v ) const

virtual

Test if a specific n-dimensional point lies within the boundary.

Parameters

_v	The point to test.

Returns: True if _v lies inside this boundary.

Implements Boundary.

Reimplemented in WorkspaceBoundingSphericalShell.

◆ InBoundary() [4/4]

virtual bool Boundary::InBoundary ( const Cfg & _c ) const

virtual

Test if a configuration lies within the boundary.

Parameters

_cfg	The configuration to test.

Returns: True if the configuration is considered to lie inside the boundary.

Implements Boundary.

Reimplemented in WorkspaceBoundingSphericalShell.

◆ Factory()

std::unique_ptr< Boundary > Boundary::Factory ( XMLNode & _node )

staticinherited

Construct a boundary as described by an XML node.

Parameters

_node The XML node.

Returns: A boundary of the appropriate type.

◆ Clone()

virtual std::unique_ptr< Boundary > Boundary::Clone ( ) const

pure virtualinherited

Duplicate this boundary and return a dynamically-allocated copy with the same type. This is provided in the base class so that we can copy a boundary object without knowing its type.

Returns: A dynamically-allocated copy of this with the same type.

Implemented in CSpaceBoundingBox, CSpaceBoundingSphere, TetrahedralBoundary, WorkspaceBoundingBox, WorkspaceBoundingSphere, and WorkspaceBoundingSphericalShell.

◆ Type()

virtual Space Boundary::Type ( ) const

pure virtualnoexceptinherited

Get the space type.

Implemented in CSpaceBoundingBox, CSpaceBoundingSphere, TetrahedralBoundary, WorkspaceBoundingBox, WorkspaceBoundingSphere, and WorkspaceBoundingSphericalShell.

◆ Name()

virtual std::string Boundary::Name ( ) const

pure virtualnoexceptinherited

Get the name of the boundary type.

Implemented in CSpaceBoundingBox, CSpaceBoundingSphere, TetrahedralBoundary, WorkspaceBoundingBox, WorkspaceBoundingSphere, and WorkspaceBoundingSphericalShell.

◆ ScalePoint()

void Boundary::ScalePoint ( std::vector< double > & _point ) const

virtualnoexceptinherited

Scale a point relative to the maximum range of the boundary. Up to GetDimension() elements will be scaled so that this boundary's maximum range maps to [-1, 1]. Additional elements in the point will not be scaled.

Parameters

_point The point to unscale.

◆ UnscalePoint()

void Boundary::UnscalePoint ( std::vector< double > & _point ) const

virtualnoexceptinherited

Unscale a point relative to the maximum range of the boundary. Up to GetDimension() elements will be scaled so that [-1, 1] maps to this boundary's maximum range. Additional elements in the point will not be scaled.

Parameters

_point The point to unscale.

◆ CGAL()

Boundary::CGALPolyhedron Boundary::CGAL ( ) const

virtualinherited

Create a CGAL polyhedron representation of this.

Reimplemented in TetrahedralBoundary, and WorkspaceBoundingBox.

◆ MakePolyhedron()

GMSPolyhedron Boundary::MakePolyhedron ( ) const

virtualinherited

Create a GMSPolyhedron representation of this. The polyhedron will be inside-out (normals facing inward) to properly represent the contact normals.

Reimplemented in TetrahedralBoundary, WorkspaceBoundingBox, WorkspaceBoundingSphere, and WorkspaceBoundingSphericalShell.

◆ InWorkspace()

bool Boundary::InWorkspace ( const Cfg & _c ) const

protectedinherited

Check that a configuration lies entirely within a workspace boundary.

Parameters

_c	The configuration of interest.

Returns: True if all of _c's geometry vertices lie within this boundary.

◆ InCSpace()

bool Boundary::InCSpace ( const Cfg & _c ) const

protectedinherited

Check that a configuration's DOF values lie entirely within a CSpace boundary.

Parameters

_c	The configuration of interest.

Returns: True if all of _c's DOF values lie within this boundary.

◆ Contains()

bool NSphericalShell::Contains ( const std::vector< double > & _p ) const

noexceptinherited

Test if a given point lies within the n-spherical shell.

Parameters

_p	The point to test.

Returns: True if _p lies within the n-spherical shell.

◆ Clearance()

double NSphericalShell::Clearance ( std::vector< double > _p ) const

noexceptinherited

Compute the minimum distance to the sphere's surface from a given point. This is bounding-sphere style, so clearance is positive if the point is inside the sphere and negative if it is outside.

Parameters

_p	The point of interest.

Returns: The minimum distance from _p to the sphere's surface.

◆ ClearancePoint()

std::vector< double > NSphericalShell::ClearancePoint ( std::vector< double > _p ) const

noexceptinherited

Find the point on the sphere that is nearest to a given reference point.

Parameters

_p	The reference point.

Returns: The point on the surface that is nearest to _p.

◆ Sample()

std::vector< double > NSphericalShell::Sample ( ) const

inherited

Sample a random point in the n-spherical shell with uniform probability via the Muller/Marsaglia method.

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

AbstractBoundingSphericalShell.h
AbstractBoundingSphericalShell.cpp

Public Member Functions

Public Types

Protected Member Functions

Construction

Polyhedron Representations

Detailed Description

Constructor & Destructor Documentation

◆ AbstractBoundingSphericalShell() [1/3]

◆ AbstractBoundingSphericalShell() [2/3]

◆ AbstractBoundingSphericalShell() [3/3]

Member Function Documentation

◆ GetDimension()

◆ GetMaxDist()

◆ GetRange()

◆ GetCenter()

◆ GetVolume()

◆ GetRandomPoint()

◆ PushInside()

◆ InBoundary() [1/4]

◆ GetClearance()

◆ GetClearancePoint()

◆ SetCenter()

◆ Translate() [1/2]

◆ Translate() [2/2]

◆ ResetBoundary()

◆ Read()

◆ Write()

◆ InBoundary() [2/4]

◆ InBoundary() [3/4]

◆ InBoundary() [4/4]

◆ Factory()

◆ Clone()

◆ Type()

◆ Name()

◆ ScalePoint()

◆ UnscalePoint()

◆ CGAL()

◆ MakePolyhedron()

◆ InWorkspace()

◆ InCSpace()

◆ Contains()

◆ Clearance()

◆ ClearancePoint()

◆ Sample()