Environment Class Reference

#include <Environment.h>

Inheritance diagram for Environment:

Collaboration diagram for Environment:

Public Member Functions
	Environment ()
virtual	~Environment ()=default
void	setStart (const Point &point)
const Point &	start () const
void	setGoal (const Point &point)
const Point &	goal () const
virtual bool	collides (double x, double y)
virtual bool	collides (const Polygon &polygon)
bool	collides (const Point &p)
bool	collides (const ompl::geometric::PathGeometric &trajectory)
bool	collides (const ob::State *state)
bool	checkValidity (const ob::State *state)
	Used by planners to determine if the state is valid or not. More...
const ob::RealVectorBounds &	bounds () const
double	width () const
double	height () const
virtual double	distance (double x, double y)
	Compute distance from xy-coordinate to the closest obstacle if possible. More...
double	distance (const ob::State *state)
	Compute distance of a state to the closest obstacle if possible. More...
double	bilinearDistance (double x, double y, double cellSize=1)
	Bilinear filtering of distance. More...
double	bilinearDistance (const Point &point, double cellSize=1)
double	bilinearDistance (const ob::State *state, double cellSize=1)
bool	distanceGradient (double x, double y, double &dx, double &dy, double p=0.1, double cellSize=1)
	Computes negative gradient of distance field at position x, y. More...
virtual std::string	name () const
void	estimateStartGoalOrientations ()
	Estimates potentially suitable theta values for the start and goal state by running a simple line search from start to goal. More...
bool	thetasDefined () const
void	setThetas (double start, double goal)
ompl::base::State *	startState () const
ompl::base::State *	goalState () const
ompl::base::ScopedState< ob::SE2StateSpace >	startScopedState () const
ompl::base::ScopedState< ob::SE2StateSpace >	goalScopedState () const
ob::RealVectorBounds	getBounds () const
double	startTheta () const
double	goalTheta () const
virtual void	to_json (nlohmann::json &j)
virtual double	unit () const
	Unit, e.g. More...
void	resetCollisionTimer ()
double	elapsedCollisionTime () const

Protected Attributes
Point	_start
Point	_goal
double	_start_theta {0}
double	_goal_theta {0}
bool	_thetas_defined {false}
ob::RealVectorBounds	_bounds {2}
Stopwatch	_collision_timer

Constructor & Destructor Documentation

Environment()

Environment::Environment

(

)

~Environment()

virtual Environment::~Environment ( )

virtualdefault

Member Function Documentation

bilinearDistance() [1/3]

double Environment::bilinearDistance ( const ob::State *  state, double  cellSize = 1  )

inline

bilinearDistance() [2/3]

double Environment::bilinearDistance ( const Point &  point, double  cellSize = 1  )

inline

bilinearDistance() [3/3]

double Environment::bilinearDistance	(	double	x,
		double	y,
		double	cellSize = 1
	)

Bilinear filtering of distance.

bounds()

const ob::RealVectorBounds & Environment::bounds ( ) const

inline

checkValidity()

bool Environment::checkValidity

(

const ob::State *

state

)

Used by planners to determine if the state is valid or not.

collides() [1/5]

bool Environment::collides ( const ob::State *  state )

inline

collides() [2/5]

bool Environment::collides

(

const ompl::geometric::PathGeometric &

trajectory

)

collides() [3/5]

bool Environment::collides ( const Point &  p )

inline

collides() [4/5]

virtual bool Environment::collides ( const Polygon &  polygon )

inlinevirtual

Reimplemented in GridMaze, and PolygonMaze.

collides() [5/5]

virtual bool Environment::collides ( double  x, double  y  )

inlinevirtual

Reimplemented in GridMaze, and PolygonMaze.

distance() [1/2]

double Environment::distance ( const ob::State *  state )

inline

Compute distance of a state to the closest obstacle if possible.

This currently assumes a point robot and does not support a check for arbitrary polygons. (will only use x and y component of state)

Parameters

state

The state to check.

Returns

The distance to the closest obstacle.

distance() [2/2]

virtual double Environment::distance ( double  x, double  y  )

inlinevirtual

Compute distance from xy-coordinate to the closest obstacle if possible.

This currently assumes a point robot and does not support a check for arbitrary polygons.

Parameters

x	X-coordinate of the point to check.
y	Y-Coordinate of the point to check.

Returns

The distance to the closest obstacle.

Reimplemented in GridMaze.

distanceGradient()

bool Environment::distanceGradient	(	double	x,
		double	y,
		double &	dx,
		double &	dy,
		double	p = 0.1,
		double	cellSize = 1
	)

Computes negative gradient of distance field at position x, y.

Parameters

x	Position coordinate x.
y	Position coordinate y.
dx	Resulting gradient coordinate x.
dy	Resulting gradient coordinate y.
p	Sampling precision.

Returns

True, if x and y are within grid boundaries.

elapsedCollisionTime()

double Environment::elapsedCollisionTime ( ) const

inline

estimateStartGoalOrientations()

void Environment::estimateStartGoalOrientations

(

)

Estimates potentially suitable theta values for the start and goal state by running a simple line search from start to goal.

This feature is useful for approaches that operate on the SE2 state space and cannot find good start / goal angles themselves (e.g. SBPL).

getBounds()

ob::RealVectorBounds Environment::getBounds ( ) const

inline

goal()

const Point & Environment::goal ( ) const

inline

goalScopedState()

ompl::base::ScopedState< ob::SE2StateSpace > Environment::goalScopedState

(

)

const

goalState()

ompl::base::State * Environment::goalState ( ) const

inline

goalTheta()

double Environment::goalTheta ( ) const

inline

height()

double Environment::height ( ) const

inline

name()

virtual std::string Environment::name ( ) const

inlinevirtual

Reimplemented in GridMaze, and PolygonMaze.

resetCollisionTimer()

void Environment::resetCollisionTimer ( )

inline

setGoal()

void Environment::setGoal

(

const Point &

point

)

setStart()

void Environment::setStart

(

const Point &

point

)

setThetas()

void Environment::setThetas	(	double	start,
		double	goal
	)

start()

const Point & Environment::start ( ) const

inline

startScopedState()

ompl::base::ScopedState< ob::SE2StateSpace > Environment::startScopedState

(

)

const

startState()

ompl::base::State * Environment::startState ( ) const

inline

startTheta()

double Environment::startTheta ( ) const

inline

thetasDefined()

bool Environment::thetasDefined ( ) const

inline

to_json()

virtual void Environment::to_json ( nlohmann::json &  j )

inlinevirtual

Reimplemented in GridMaze, and PolygonMaze.

unit()

virtual double Environment::unit ( ) const

inlinevirtual

Unit, e.g.

used by Theta* to determine neighboring states.

Reimplemented in PolygonMaze.

width()

double Environment::width ( ) const

inline

Member Data Documentation

_bounds

ob::RealVectorBounds Environment::_bounds {2}

protected

_collision_timer

Stopwatch Environment::_collision_timer

protected

_goal

Point Environment::_goal

protected

_goal_theta

double Environment::_goal_theta {0}

protected

_start

Point Environment::_start

protected

_start_theta

double Environment::_start_theta {0}

protected

_thetas_defined

bool Environment::_thetas_defined {false}

protected

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

• src/base/Environment.h
• src/base/src/Environment.cpp