PolygonMaze Class Reference

Implements a maze consisting of convex shapes as obstacles. More...

#include <PolygonMaze.h>

Inheritance diagram for PolygonMaze:

Collaboration diagram for PolygonMaze:

Public Member Functions
	PolygonMaze ()
std::string	name () const override
const std::vector< Polygon > &	obstacles () const
bool	collides (double x, double y) override
bool	collides (const Polygon &polygon) override
void	to_json (nlohmann::json &j) override
double	unit () const override
	Unit, e.g. More...
Public Member Functions inherited from Environment
	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

Static Public Member Functions
static std::shared_ptr< PolygonMaze >	loadFromSvg (const std::string &filename)

Additional Inherited Members
Protected Attributes inherited from Environment
Point	_start
Point	_goal
double	_start_theta {0}
double	_goal_theta {0}
bool	_thetas_defined {false}
ob::RealVectorBounds	_bounds {2}
Stopwatch	_collision_timer

Detailed Description

Implements a maze consisting of convex shapes as obstacles.

Constructor & Destructor Documentation

PolygonMaze()

PolygonMaze::PolygonMaze ( )

inline

Member Function Documentation

collides() [1/2]

bool PolygonMaze::collides ( const Polygon &  polygon )

inlineoverridevirtual

Reimplemented from Environment.

collides() [2/2]

bool PolygonMaze::collides ( double  x, double  y  )

inlineoverridevirtual

Reimplemented from Environment.

loadFromSvg()

static std::shared_ptr< PolygonMaze > PolygonMaze::loadFromSvg ( const std::string &  filename )

inlinestatic

name()

std::string PolygonMaze::name ( ) const

inlineoverridevirtual

Reimplemented from Environment.

obstacles()

const std::vector< Polygon > & PolygonMaze::obstacles ( ) const

inline

to_json()

void PolygonMaze::to_json ( nlohmann::json &  j )

inlineoverridevirtual

Reimplemented from Environment.

unit()

double PolygonMaze::unit ( ) const

inlineoverridevirtual

Unit, e.g.

used by Theta* to determine neighboring states.

Reimplemented from Environment.

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

• src/base/environments/PolygonMaze.h