Environment Class Reference

Public Member Functions
Construction
	Environment ()
	Environment (XMLNode &_node)
	Environment (const Environment &_other)
	Copy.
	Environment (Environment &&_other)
	Move.
virtual	~Environment ()
Assignment
Environment &	operator= (const Environment &_other)
	Copy.
Environment &	operator= (Environment &&_other)
	Move.
I/O
const std::string &	GetEnvFileName () const noexcept
	Get the environment file name.
void	ReadXMLOptions (XMLNode &_node)
	Parse XML options from the Problem XML node.
void	ReadXML (XMLNode &_node)
	Parse XML environment file.
void	Read (std::string _filename)
void	Print (std::ostream &_os) const
void	Write (std::ostream &_os)
Resolutions
void	ComputeResolution (const std::vector< std::unique_ptr< Robot > > &_robots)
double	GetPositionRes () const noexcept
	Get the position resolution.
void	SetPositionRes (double _res) noexcept
	Set the position resolution.
double	GetOrientationRes () const noexcept
	Get the orientation resolution.
void	SetOrientationRes (double _res) noexcept
	Set the orientation resolution.
double	GetTimeRes () const noexcept
	Get the time resolution.
Boundary Functions
Boundary *	GetBoundary () const noexcept
	Get the single boundary of the environemnt.
void	SetBoundary (std::unique_ptr< Boundary > &&_b) noexcept
Obstacle Functions
size_t	NumObstacles () const noexcept
	Get the number of MultiBodies.
MultiBody *	GetObstacle (size_t _index) const
MultiBody *	GetRandomObstacle () const
size_t	AddObstacle (const std::string &_dir, const std::string &_filename, const mathtool::Transformation &_t=mathtool::Transformation())
void	RemoveObstacle (const size_t _position)
void	RemoveObstacle (MultiBody *const _obst)
std::map< mathtool::Vector3d, std::vector< size_t > >	ComputeObstacleVertexMap () const
bool	UsingBoundaryObstacle () const noexcept
	Check if the boundary is also modeled as an obstacle.
Terrain Functions
const TerrainMap &	GetTerrains () const noexcept
	Get environment terrains.

Public Types
Local Types
typedef std::unordered_map< std::string, std::vector< Terrain > >	TerrainMap

Protected Member Functions
Helpers
void	InitializeBoundary (std::string _type, const std::string _where)
void	CreateBoundaryObstacle ()
	Create an obstacle for the boundary.

Protected Attributes
File Info
std::string	m_filename
	Which file did this environment come from?
std::string	m_modelDataDir
	Directory where environment file is located.
Resolution Info
double	m_positionRes {-1.}
	Positional resolution of movement.
double	m_orientationRes {.05}
	Rotational resolution of movement.
double	m_timeRes {.05}
	Resolution for time.
Models
std::unique_ptr< Boundary >	m_boundary
	Workspace boundary.
std::vector< std::unique_ptr< MultiBody > >	m_obstacles
	Obstacle multibodies.
bool	m_boundaryObstacle {false}
	Use the boundary as an obstacle?
Terrains
TerrainMap	m_terrains
	Environment terrains.
Simulation Properties
mathtool::Transformation	m_initialCameraTransform
	Camera starts here.

Simulation Functions
std::unique_ptr< Boundary >	m_originalBoundary
const mathtool::Transformation &	GetInitialCameraTransformation () const noexcept
	Get the initial transformation for the camera.
bool	IsolateTerrain (Cfg start, Cfg goal)
	IROS Hacks. More...
bool	SameTerrain (Cfg _start, Cfg _goal)
void	RestoreBoundary ()
	Restores original boundary.
void	SaveBoundary ()
	Saves boundary as original boundary.

Physical Properties
double	m_frictionCoefficient {0}
	The uniform friction coefficient.
mathtool::Vector3d	m_gravity
	The gravity direction and magnitude.
double	GetFrictionCoefficient () const noexcept
	Get the friction coefficient.
const mathtool::Vector3d &	GetGravity () const noexcept
	Get the gravity 3-vector.

Detailed Description

Workspace for the motion planning problem, including a boundary and zero or more obstacles.

Member Function Documentation

Read()

void Environment::Read

(

std::string

_filename

)

Parse an old-style environment file.

Parameters

_filename

The name of the file to read.

Note

This is provided only for supporting old environments. Do not make any modifications here - if you need to add features, you must upgrade your env file to the newer XML format.

Print()

void Environment::Print

(

std::ostream &

_os

)

const

Print environment resolutions and boundary information.

Parameters

_os	The output stream to print to.

Write()

void Environment::Write

(

std::ostream &

_os

)

Output environment to .env file format.

Parameters

_os	The output stream to write to.

ComputeResolution()

void Environment::ComputeResolution

(

const std::vector< std::unique_ptr< Robot > > &

_robots

)

Automatically compute position resolution when not specified.

Parameters

_robots

Robots to consider when determining resolution

SetBoundary()

void Environment::SetBoundary ( std::unique_ptr< Boundary > &&  _b )

noexcept

Get the single boundary of the environemnt

Parameters

_b	The new boundary

GetObstacle()

MultiBody * Environment::GetObstacle

(

size_t

_index

)

const

Get requested obstacle

Parameters

_index

Requested multibody

Returns

Pointer to static multibody

GetRandomObstacle()

MultiBody * Environment::GetRandomObstacle

(

)

const

Get random multiboy

Returns

Pointer to random static multibody

AddObstacle()

size_t Environment::AddObstacle	(	const std::string &	_dir,
		const std::string &	_filename,
		const mathtool::Transformation &	_t = mathtool::Transformation()
	)

Add an obstacle to the environment.

Parameters

_dir	Directory for geometry file
_filename	Geometry filename
_t	Transformation of object

Returns

The index of the newly created obstacle.

RemoveObstacle() [1/2]

void Environment::RemoveObstacle

(

const size_t

_position

)

Remove an obstacle from the environment.

Parameters

_position

Index in m_obstacleBodies to be removed

RemoveObstacle() [2/2]

void Environment::RemoveObstacle

(

MultiBody *const

_obst

)

Remove obstacle from environment

Parameters

_obst

Obstacle to be removed

ComputeObstacleVertexMap()

std::map< Vector3d, std::vector< size_t > > Environment::ComputeObstacleVertexMap

(

)

const

Compute a mapping of the obstacle vertices.

Returns

A map from obstacle points to obstacle indexes.

IsolateTerrain()

bool Environment::IsolateTerrain	(	Cfg	start,
		Cfg	goal
	)

IROS Hacks.

Determine if two configurations are in the same boundary of a terrain and, if so, sets mutual terrain as new boundary

Parameters

_start	First configuration
_end	Second configuration

Returns

True if _start and _cfg in same terrain boundary,

SameTerrain()

bool Environment::SameTerrain	(	Cfg	_start,
		Cfg	_goal
	)

Determine if two configurations are in the same terrain

Parameters

_start	First configuration
_end	Second configuration

Returns

True if _start and _cfg in same terrain

InitializeBoundary()

void Environment::InitializeBoundary ( std::string  _type, const std::string  _where  )

protected

Initialize a boundary object of the appropriate type.

Parameters

_type	Type of boundary object (box, box2d, sphere, or sphere2d)
_where	String for parse exception

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

• Environment.h
• Environment.cpp