A 2 or 3 dimensional bounding sphere in workspace. More...

Public Member Functions
Construction
	WorkspaceBoundingSphere (const size_t _n, const double _radius=std::numeric_limits< double >::max())

	WorkspaceBoundingSphere (const std::vector< double > &_center, const double _radius=std::numeric_limits< double >::max())

	WorkspaceBoundingSphere (const Vector3d &_center, const double _radius=std::numeric_limits< double >::max())

	WorkspaceBoundingSphere (XMLNode &_node)

virtual	~WorkspaceBoundingSphere () noexcept

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

Property Accessors
virtual Boundary::Space	Type () const noexcept override
	Get the space type. More...

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

Containment Testing
virtual bool	InBoundary (const Cfg &_cfg) 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

Polyhedron Representations
virtual GMSPolyhedron	MakePolyhedron () const override
	This will be an approximate sphere with 480 faces. More...

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

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

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

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

Accessors
double	GetRadius () const noexcept
	Get the radius.

void	SetRadius (const double _r) noexcept
	Set the 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

Static Public Member Functions
Construction
static std::unique_ptr< Boundary >	Factory (XMLNode &_node)

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

typedef CGAL::Exact_predicates_exact_constructions_kernel	CGALKernel

typedef CGAL::Polyhedron_3< CGALKernel >	CGALPolyhedron

Detailed Description

A 2 or 3 dimensional bounding sphere in workspace.

Member Function Documentation

◆ Clone()

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

overridevirtual

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.

Implements Boundary.

◆ Type()

Boundary::Space WorkspaceBoundingSphere::Type ( ) const

overridevirtualnoexcept

Get the space type.

Implements Boundary.

◆ Name()

std::string WorkspaceBoundingSphere::Name ( ) const

overridevirtualnoexcept

Get the name of the boundary type.

Implements Boundary.

◆ InBoundary() [1/4]

bool WorkspaceBoundingSphere::InBoundary ( const Cfg & _c ) const

overridevirtual

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.

◆ MakePolyhedron()

GMSPolyhedron WorkspaceBoundingSphere::MakePolyhedron ( ) const

overridevirtual

This will be an approximate sphere with 480 faces.

Reimplemented from 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 AbstractBoundingSphere.

◆ 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.

Reimplemented from AbstractBoundingSphere.

◆ 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.

Reimplemented from AbstractBoundingSphere.

◆ GetDimension()

size_t AbstractBoundingSphere::GetDimension ( ) const

overridevirtualnoexceptinherited

Get the dimension of this boundary.

Implements Boundary.

◆ GetMaxDist()

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

overridevirtualinherited

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 > & AbstractBoundingSphere::GetRange ( const size_t _i ) const

overridevirtualinherited

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 > & AbstractBoundingSphere::GetCenter ( ) const

overridevirtualnoexceptinherited

Get the boundary's center point.

Implements Boundary.

◆ GetVolume()

double AbstractBoundingSphere::GetVolume ( ) const

overridevirtualnoexceptinherited

Get the boundary's volume (Lebesgue Measure).

Implements Boundary.

◆ GetRandomPoint()

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

overridevirtualinherited

Get a random point inside the boundary.

Implements Boundary.

◆ PushInside()

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

overridevirtualnoexceptinherited

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

Parameters

_point The point to push.

Implements Boundary.

◆ GetClearance()

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

overridevirtualinherited

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 AbstractBoundingSphere::GetClearancePoint ( const Vector3d & _p ) const

overridevirtualinherited

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

overridevirtualnoexceptinherited

Move the boundary to a new center point.

Parameters

_c	The new center point for the boundary.

Implements Boundary.

◆ Translate() [1/2]

void AbstractBoundingSphere::Translate ( const Vector3d & _v )

overridevirtualinherited

Translate the boundary.

Parameters

_v	The offset to apply.

Implements Boundary.

◆ Translate() [2/2]

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

overridevirtualinherited

Translate the boundary.

Parameters

_t	The offset to apply.

Implements Boundary.

◆ ResetBoundary()

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

overridevirtualinherited

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 AbstractBoundingSphere::Read	(	std::istream &	_is,
		CountingStreamBuffer &	_cbs
	)

overridevirtualinherited

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 AbstractBoundingSphere::Write ( std::ostream & _os ) const

overridevirtualinherited

Write out a boundary.

Parameters

_os	The output stream to write to.

Implements Boundary.

◆ 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.

◆ 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.

◆ 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 NSphere::Contains ( const std::vector< double > & _p ) const

noexceptinherited

Test if a given point lies within the n-sphere.

Parameters

_p	The point to test.

Returns: True if _p lies within the n-sphere.

◆ Clearance()

double NSphere::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 > NSphere::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 > NSphere::Sample ( ) const

inherited

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

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

WorkspaceBoundingSphere.h
WorkspaceBoundingSphere.cpp

Public Member Functions

Static Public Member Functions

Public Types

Protected Member Functions

Polyhedron Representations

Detailed Description

Member Function Documentation

◆ Clone()

◆ Type()

◆ Name()

◆ InBoundary() [1/4]

◆ MakePolyhedron()

◆ InBoundary() [2/4]

◆ InBoundary() [3/4]

◆ InBoundary() [4/4]

◆ GetDimension()

◆ GetMaxDist()

◆ GetRange()

◆ GetCenter()

◆ GetVolume()

◆ GetRandomPoint()

◆ PushInside()

◆ GetClearance()

◆ GetClearancePoint()

◆ SetCenter()

◆ Translate() [1/2]

◆ Translate() [2/2]

◆ ResetBoundary()

◆ Read()

◆ Write()

◆ Factory()

◆ ScalePoint()

◆ UnscalePoint()

◆ CGAL()

◆ InWorkspace()

◆ InCSpace()

◆ Contains()

◆ Clearance()

◆ ClearancePoint()

◆ Sample()