hpp-rbprm  4.13.0
Implementation of RB-PRM planner using hpp.
algorithms.h File Reference
#include <iostream>
#include <pinocchio/fwd.hpp>
#include <vector>
#include <Eigen/src/Core/util/Macros.h>
#include <hpp/fcl/BVH/BVH_model.h>
#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/collision_object.h>
#include <Eigen/Dense>
#include <hpp/pinocchio/collision-object.hh>
Include dependency graph for algorithms.h:

Go to the source code of this file.

Classes

struct  geom::TrianglePoints
 

Namespaces

 geom
 

Typedefs

typedef Eigen::Vector3d geom::Point
 
typedef std::vector< Point > geom::T_Point
 
typedef T_Point::const_iterator geom::CIT_Point
 
typedef T_Point::iterator geom::IT_Point
 
typedef const Eigen::Ref< const Point > & geom::CPointRef
 
typedef std::vector< Eigen::Vector2d > geom::T_Point2D
 
typedef T_Point2D::const_iterator geom::CIT_Point2D
 
typedef hpp::fcl::BVHModel< hpp::fcl::OBBRSS > geom::BVHModelOB
 
typedef hpp::fcl::shared_ptr< const BVHModelOB > geom::BVHModelOBConst_Ptr_t
 

Functions

BVHModelOBConst_Ptr_t geom::GetModel (const hpp::pinocchio::CollisionObjectConstPtr_t object, hpp::pinocchio::DeviceData &deviceData)
 
void geom::projectZ (IT_Point pointsBegin, IT_Point pointsEnd)
 
T_Point geom::convexHull (CIT_Point pointsBegin, CIT_Point pointsEnd)
 
bool geom::containsHull (T_Point hull, CPointRef aPoint, const double epsilon=10e-6)
 
bool geom::contains (T_Point points, CPointRef aPoint, const double epsilon=10e-6)
 
T_Point geom::compute2DIntersection (CIT_Point aPointsBegin, CIT_Point aPointsEnd, CIT_Point bPointsBegin, CIT_Point bPointsEnd)
 
T_Point geom::compute2DIntersection (T_Point subPolygon, T_Point clipPolygon)
 
T_Point geom::compute3DIntersection (T_Point subPolygon, T_Point clipPolygon)
 
double geom::isLeft (CPointRef lA, CPointRef lB, CPointRef p2)
 
CIT_Point geom::leftMost (CIT_Point pointsBegin, CIT_Point pointsEnd)
 
double geom::area (CIT_Point pointsBegin, CIT_Point pointsEnd)
 area compute the area of a 2D polygon More...
 
Point geom::centerPlanar (T_Point points, const hpp::fcl::Vec3f &n, double t)
 center compute the center of the polygon (planar) More...
 
Point geom::center (CIT_Point pointsBegin, CIT_Point pointsEnd)
 center compute the center using average method More...
 
Point geom::centroid (CIT_Point pointsBegin, CIT_Point pointsEnd, double &area)
 
double geom::distanceToPlane (const hpp::fcl::Vec3f &n, double t, const hpp::fcl::Vec3f &v)
 distanceToPlane Distance point plan More...
 
double geom::distanceToPlane (CPointRef point, CPointRef Pn, CPointRef P0)
 distanceToPlane compute the min distance from a point to an (infinite) plan More...
 
Point geom::projectPointOnPlane (CPointRef point, CPointRef Pn, CPointRef P0)
 projectPointOnPlane othrogonal projection of a given point on the plan More...
 
double geom::projectPointInsidePlan (T_Point plan, CPointRef point, CPointRef Pn, CPointRef P0, Eigen::Ref< Point > res)
 projectPointInsidePlan project a point inside on the given plan, inside the given convex hull More...
 
void geom::computeTrianglePlaneDistance (hpp::fcl::Vec3f *tri_point, const hpp::fcl::Vec3f &n, double t, hpp::fcl::Vec3f *distance, unsigned int *num_penetrating_points)
 computeTrianglePlaneDistance compute distance between each vertice of the triangle and a plane More...
 
bool geom::insideTriangle (const hpp::fcl::Vec3f &a, const hpp::fcl::Vec3f &b, const hpp::fcl::Vec3f &c, const hpp::fcl::Vec3f &p)
 insideTriangle check if a point is inside a triangle More...
 
void geom::intersect3DGeoms (BVHModelOBConst_Ptr_t model1, BVHModelOBConst_Ptr_t model2, hpp::fcl::CollisionResult result)
 intersectGeoms compute intersection between 2 OBBRSS geometries More...
 
T_Point geom::intersectTriangles (hpp::fcl::Vec3f *tri, hpp::fcl::Vec3f *tri2, std::ostringstream *ss=0)
 intersectPolygonePlane Compute the intersection of a polygon and a plane The returned point belongs to the surfaces of More...
 
T_Point geom::intersectSegmentPlane (Point s0, Point s1, Eigen::Vector3d pn, Point p0)
 intersectSegmentPlane compute the intersection between a segment and a plane (infinite) More...
 
T_Point geom::intersectPolygonePlane (BVHModelOBConst_Ptr_t polygone, BVHModelOBConst_Ptr_t plane, Eigen::Ref< Point > Pn)
 intersectPolygonePlane compute the intersection between a polygone and an (infinite) plane More...
 
T_Point geom::convertBVH (BVHModelOBConst_Ptr_t obj)
 
void geom::computePlanEquation (BVHModelOBConst_Ptr_t plane, Eigen::Ref< Point > Pn, Eigen::Ref< Point > P0)
 computePlanEquation compute a plan normal and a point in the plan from the first triangle of a BVHModel More...
 

Variables

const double geom::EPSILON = 1e-5
 
const double geom::ZJUMP = 0.001