Public Member Functions
Construction
	RegionKit ()=default

	RegionKit (XMLNode &_node)

	~RegionKit ()

template<typename RoadmapGraph >
void	Initialize (WorkspaceSkeleton const _skeleton, const Point3d &_point, const double _robotRadius, const std::string &_label, RoadmapGraph _graph)

void	Clear ()
	Release all regions and clear the internal structures.

Sampling
const Boundary *	SelectRegion ()
	Select a region based on its weight.

void	IncrementFailure (const Boundary *const _region, const size_t _count=1)

void	IncrementSuccess (const Boundary *const _region, const size_t _count=1)

const Vector3d	GetVelocityBias (const Boundary *const _region) const

I/O
void	Print (std::ostream &_os) const

Detailed Description

Creates and manages a set of dynamic sampling regions that follow a workspace skeleton.

Member Function Documentation

template<typename RoadmapGraph >

Initialize a region kit for following a workspace skeleton.

Parameters

_skeleton	The skeleton to follow.
_point	The workspace starting point.
_robotRadius	The robot bounding sphere radius.
_label	The label to use for the roadmap hook.
_graph	The roadmap to hook onto.

void RegionKit::IncrementFailure	(	const Boundary *const	_region,
		const size_t	_count = `1`
	)

Increment the failed sampling attempts of a region.

Parameters

_region	The region which generated an invalid sample.
_count	The number to increment.

void RegionKit::IncrementSuccess	(	const Boundary *const	_region,
		const size_t	_count = `1`
	)

Increment the sampling success of a region.

Parameters

_region	The region which generated a successful sample.
_count	The number to increment.

const Vector3d RegionKit::GetVelocityBias ( const Boundary *const _region ) const

Get the velocity bias for a given sampling region.

Parameters

_region The sampling region.

void RegionKit::Print ( std::ostream & _os ) const

Print parameters.

Parameters

_os	The out stream to write to.

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