Public Member Functions
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...

virtual size_t	GetDimension () const noexcept=0
	Get the dimension of this boundary. More...

virtual double	GetMaxDist (const double _r1=2., const double _r2=.5) const =0

virtual const Range< double > &	GetRange (const size_t _i) const =0

virtual const std::vector< double > &	GetCenter () const noexcept=0
	Get the boundary's center point. More...

virtual double	GetVolume () const noexcept=0
	Get the boundary's volume (Lebesgue Measure). More...

Sampling
virtual std::vector< double >	GetRandomPoint () const =0
	Get a random point inside the boundary. More...

virtual void	PushInside (std::vector< double > &_point) const noexcept=0

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

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

Containment Testing
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 =0

virtual Vector3d	GetClearancePoint (const Vector3d &_p) const =0

Modifiers
virtual void	SetCenter (const std::vector< double > &_c) noexcept=0

virtual void	Translate (const Vector3d &_v)=0

virtual void	Translate (const std::vector< double > &_t)=0

virtual void	ResetBoundary (const std::vector< std::pair< double, double > > &_bbx, const double _margin)=0

I/O
virtual void	Read (std::istream &_is, CountingStreamBuffer &_cbs)=0

virtual void	Write (std::ostream &_os) const =0

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

Polyhedron Representations
typedef CGAL::Exact_predicates_exact_constructions_kernel	CGALKernel

typedef CGAL::Polyhedron_3< CGALKernel >	CGALPolyhedron

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

virtual GMSPolyhedron	MakePolyhedron () const

Construction
virtual	~Boundary () noexcept

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

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

Detailed Description

An abstract interface for a bounding volume in workspace or c-space.

Member Function Documentation

◆ Factory()

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

static

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 virtual

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 virtualnoexcept

Get the space type.

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

◆ Name()

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

pure virtualnoexcept

Get the name of the boundary type.

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

◆ GetDimension()

virtual size_t Boundary::GetDimension ( ) const

pure virtualnoexcept

Get the dimension of this boundary.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ GetMaxDist()

virtual double Boundary::GetMaxDist	(	const double	_r1 = `2.`,
		const double	_r2 = `.5`
	)		const

pure virtual

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.

Implemented in AbstractBoundingBox, TetrahedralBoundary, AbstractBoundingSphere, and AbstractBoundingSphericalShell.

◆ GetRange()

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

pure virtual

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.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ GetCenter()

virtual const std::vector< double > & Boundary::GetCenter ( ) const

pure virtualnoexcept

Get the boundary's center point.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ GetVolume()

virtual double Boundary::GetVolume ( ) const

pure virtualnoexcept

Get the boundary's volume (Lebesgue Measure).

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ GetRandomPoint()

virtual std::vector< double > Boundary::GetRandomPoint ( ) const

pure virtual

Get a random point inside the boundary.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ PushInside()

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

pure virtualnoexcept

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

Parameters

_point The point to push.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ ScalePoint()

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

virtualnoexcept

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

virtualnoexcept

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.

◆ InBoundary() [1/3]

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 in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, CSpaceBoundingBox, CSpaceBoundingSphere, WorkspaceBoundingBox, WorkspaceBoundingSphere, WorkspaceBoundingSphericalShell, and TetrahedralBoundary.

◆ InBoundary() [2/3]

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

pure 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.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, TetrahedralBoundary, AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, CSpaceBoundingBox, CSpaceBoundingSphere, WorkspaceBoundingBox, WorkspaceBoundingSphere, and WorkspaceBoundingSphericalShell.

◆ InBoundary() [3/3]

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

pure 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.

Implemented in CSpaceBoundingBox, TetrahedralBoundary, WorkspaceBoundingBox, AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, CSpaceBoundingBox, CSpaceBoundingSphere, WorkspaceBoundingBox, WorkspaceBoundingSphere, WorkspaceBoundingSphericalShell, CSpaceBoundingSphere, WorkspaceBoundingSphere, and WorkspaceBoundingSphericalShell.

◆ GetClearance()

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

pure virtual

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.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ GetClearancePoint()

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

pure virtual

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.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ SetCenter()

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

pure virtualnoexcept

Move the boundary to a new center point.

Parameters

_c	The new center point for the boundary.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ Translate() [1/2]

virtual void Boundary::Translate ( const Vector3d & _v )

pure virtual

Translate the boundary.

Parameters

_v	The offset to apply.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ Translate() [2/2]

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

pure virtual

Translate the boundary.

Parameters

_t	The offset to apply.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ ResetBoundary()

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

pure virtual

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.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ Read()

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

pure virtual

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.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ Write()

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

pure virtual

Write out a boundary.

Parameters

_os	The output stream to write to.

Implemented in AbstractBoundingBox, AbstractBoundingSphere, AbstractBoundingSphericalShell, and TetrahedralBoundary.

◆ CGAL()

Boundary::CGALPolyhedron Boundary::CGAL ( ) const

virtual

Create a CGAL polyhedron representation of this.

Reimplemented in TetrahedralBoundary, and WorkspaceBoundingBox.

◆ MakePolyhedron()

GMSPolyhedron Boundary::MakePolyhedron ( ) const

virtual

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

protected

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

protected

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.

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

Boundary.h
Boundary.cpp

Public Member Functions

Public Types

Protected Member Functions

Polyhedron Representations

Construction

Detailed Description

Member Function Documentation

◆ Factory()

◆ Clone()

◆ Type()

◆ Name()

◆ GetDimension()

◆ GetMaxDist()

◆ GetRange()

◆ GetCenter()

◆ GetVolume()

◆ GetRandomPoint()

◆ PushInside()

◆ ScalePoint()

◆ UnscalePoint()

◆ InBoundary() [1/3]

◆ InBoundary() [2/3]

◆ InBoundary() [3/3]

◆ GetClearance()

◆ GetClearancePoint()

◆ SetCenter()

◆ Translate() [1/2]

◆ Translate() [2/2]

◆ ResetBoundary()

◆ Read()

◆ Write()

◆ CGAL()

◆ MakePolyhedron()

◆ InWorkspace()

◆ InCSpace()