WorkspaceSkeleton Class Reference

Geometric skeleton of the workspace. More...

Public Member Functions
vertex_iterator	find_vertex (VD _vd)
Locators
vertex_iterator	FindNearestVertex (const mathtool::Point3d &_target)
vertex_iterator	FindVertex (const VD _vertexDescriptor)
adj_edge_iterator	FindEdge (const ED &_edgeDescriptor)
std::vector< adj_edge_iterator >	FindInboundEdges (const VD &_vertexDescriptor)
std::vector< adj_edge_iterator >	FindInboundEdges (const vertex_iterator &_vi)
Modifiers
WorkspaceSkeleton	Direct (const mathtool::Point3d &_start)
void	Prune (const mathtool::Point3d &_goal)
void	RefineEdges (double _maxLength)
	Divide existing edges into sizes of at most _maxLength.
void	DoubleEdges ()
Accessors
void	SetGraph (GraphType &_graph) noexcept
GraphType &	GetGraph () noexcept
	Get the skeleton graph.
const GraphType &	GetGraph () const noexcept
IO
void	Write (const std::string &_file)
void	Read (const std::string &_file)

Public Types
Local Types
typedef stapl::sequential::directed_preds_graph< stapl::MULTIEDGES, mathtool::Point3d, std::vector< mathtool::Point3d > >	GraphType
	Graph type is a directed multiedge graph of points and paths.
typedef GraphType::vertex_descriptor	VD
typedef GraphType::edge_descriptor	ED
typedef GraphType::vertex_iterator	vertex_iterator
typedef GraphType::vertex_descriptor	vertex_descriptor
typedef GraphType::adj_edge_iterator	adj_edge_iterator

Detailed Description

Geometric skeleton of the workspace.

Member Function Documentation

FindNearestVertex()

WorkspaceSkeleton::vertex_iterator WorkspaceSkeleton::FindNearestVertex

(

const mathtool::Point3d &

_target

)

Helper function to find the skeleton vertex that is closest to a given workspace point.

Parameters

_target

The workspace point.

Returns

An iterator to the nearest skeleton vertex.

FindVertex()

WorkspaceSkeleton::vertex_iterator WorkspaceSkeleton::FindVertex

(

const VD

_vertexDescriptor

)

Find a vertex iterator in the skeleton by descriptor.

Parameters

_vertexDescriptor

The descriptor of the vertex to search for.

Returns

An iterator to the desired vertex.

FindEdge()

WorkspaceSkeleton::adj_edge_iterator WorkspaceSkeleton::FindEdge

(

const ED &

_edgeDescriptor

)

Find an edge iterator in the skeleton by descriptor.

Parameters

_edgeDescriptor

The descriptor of the edge to search for.

Returns

An iterator to the desired edge.

FindInboundEdges() [1/2]

std::vector< WorkspaceSkeleton::adj_edge_iterator > WorkspaceSkeleton::FindInboundEdges

(

const VD &

_vertexDescriptor

)

Find iterators to all edges inbound on a given vertex.

Parameters

_vertexDescriptor

The descriptor for the vertex of interest.

Returns

A set of iterators for each edge incident on _vertexDescriptor.

FindInboundEdges() [2/2]

std::vector< WorkspaceSkeleton::adj_edge_iterator > WorkspaceSkeleton::FindInboundEdges

(

const vertex_iterator &

_vi

)

Find iterators to all edges inbound on a given vertex.

Parameters

_vi	An iterator to the vertex of interest.

Returns

A set of iterators for each edge incident on _vi.

Direct()

WorkspaceSkeleton WorkspaceSkeleton::Direct

(

const mathtool::Point3d &

_start

)

Direct the skeleton so that all edges point outwards from the vertex nearest to a given starting point.

Parameters

_start

A workspace point from which the direction should eminate.

Returns

A directed skeleton with flow pointing outward from _start.

Prune()

void WorkspaceSkeleton::Prune

(

const mathtool::Point3d &

_goal

)

Prune the skeleton by removing vertices and edges that are not reachable by back-tracking the edges from the vertex nearst to a goal point. Only makes sense after calling Direct.

Parameters

_goal

A workspace goal point.

DoubleEdges()

void WorkspaceSkeleton::DoubleEdges

(

)

Double up the edges so that each one has a duplicate facing the opposite direction with reversed path and same edge ID. This does not make sense with Direct or Prune. If you want to use with RefineEdges you should call that first to ensure the edge counterparts match exactly.

Note

This function assumes that all edges currently in the skeleton are unique and not reverse duplicates.

SetGraph()

void WorkspaceSkeleton::SetGraph ( GraphType &  _graph )

noexcept

Set the skeleton graph.

Parameters

_graph

the flow graph we want to set for this skeleton.

Write()

void WorkspaceSkeleton::Write

(

const std::string &

_file

)

Writes the graph to a file.

Parameters

_file

the output file name.

Read()

void WorkspaceSkeleton::Read

(

const std::string &

_file

)

Reads the graph from a file.

Parameters

_file

the output file name.

find_vertex()

WorkspaceSkeleton::vertex_iterator WorkspaceSkeleton::find_vertex

(

WorkspaceSkeleton::VD

_vd

)

Find a vertex iterator in the skeleton by descriptor.

Parameters

_vd	The descriptor of the vertex to search for.

Returns

An iterator to the desired vertex.

---

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

• WorkspaceSkeleton.h
• WorkspaceSkeleton.cpp