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AtlasChart.h
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34
35/* Author: Zachary Kingston, Caleb Voss */
36
37#ifndef OMPL_BASE_SPACES_ATLAS_CHART_
38#define OMPL_BASE_SPACES_ATLAS_CHART_
39
40#include "ompl/base/spaces/constraint/AtlasStateSpace.h"
41#include "ompl/datastructures/PDF.h"
42
43#include <vector>
44#include <Eigen/Core>
45
46namespace ompl
47{
48 namespace base
49 {
53 {
54 private:
59 class Halfspace
60 {
61 public:
62 // non-copyable
63 Halfspace(const Halfspace &) = delete;
64 Halfspace &operator=(const Halfspace &) = delete;
65
69 Halfspace(const AtlasChart *owner, const AtlasChart *neighbor);
70
73 bool contains(const Eigen::Ref<const Eigen::VectorXd> &v) const;
74
79 void checkNear(const Eigen::Ref<const Eigen::VectorXd> &v) const;
80
86 bool circleIntersect(double r, Eigen::Ref<Eigen::VectorXd> v1, Eigen::Ref<Eigen::VectorXd> v2) const;
87
91 static void intersect(const Halfspace &l1, const Halfspace &l2, Eigen::Ref<Eigen::VectorXd> out);
92
95 void setComplement(Halfspace *complement)
96 {
97 complement_ = complement;
98 }
99
101 Halfspace *getComplement() const
102 {
103 return complement_;
104 }
105
107 const AtlasChart *getOwner() const
108 {
109 return owner_;
110 }
111
112 private:
114 const AtlasChart *owner_;
115
118 Halfspace *complement_{nullptr};
119
122 Eigen::VectorXd u_;
123
125 double usqnorm_;
126
128 double rhs_;
129
132 void setU(const Eigen::Ref<const Eigen::VectorXd> &u);
133
138 double distanceToPoint(const Eigen::Ref<const Eigen::VectorXd> &v) const;
139
142 void expandToInclude(const Eigen::Ref<const Eigen::VectorXd> &x);
143 };
144
145 public:
146 // non-copyable
147 AtlasChart(const AtlasChart &) = delete;
148 AtlasChart &operator=(const AtlasChart &) = delete;
149
153 AtlasChart(const AtlasStateSpace *atlas, const AtlasStateSpace::StateType *state);
154
156 ~AtlasChart();
157
160 void clear();
161
165 {
166 return state_;
167 }
168
170 unsigned int getAmbientDimension() const
171 {
172 return n_;
173 }
174
176 unsigned int getManifoldDimension() const
177 {
178 return k_;
179 }
180
185 void phi(const Eigen::Ref<const Eigen::VectorXd> &u, Eigen::Ref<Eigen::VectorXd> out) const;
186
190 bool psi(const Eigen::Ref<const Eigen::VectorXd> &u, Eigen::Ref<Eigen::VectorXd> out) const;
191
195 void psiInverse(const Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out) const;
196
200 bool inPolytope(const Eigen::Ref<const Eigen::VectorXd> &u, const Halfspace *ignore1 = nullptr,
201 const Halfspace *ignore2 = nullptr) const;
202
206 void borderCheck(const Eigen::Ref<const Eigen::VectorXd> &v) const;
207
210 const AtlasChart *owningNeighbor(const Eigen::Ref<const Eigen::VectorXd> &x) const;
211
217 bool toPolygon(std::vector<Eigen::VectorXd> &vertices) const;
218
221 std::size_t getNeighborCount() const
222 {
223 return polytope_.size();
224 }
225
229 bool estimateIsFrontier() const;
230
235 static void generateHalfspace(AtlasChart *c1, AtlasChart *c2);
236
237 protected:
240
242 std::vector<Halfspace *> polytope_;
243
247 void addBoundary(Halfspace *halfspace);
248
249 private:
251 const unsigned int n_;
252
255 const unsigned int k_;
256
258 const AtlasStateSpace::StateType *state_;
259
261 const Eigen::MatrixXd bigPhi_;
262
264 const double radius_;
265 };
266 }
267}
268
269#endif
Tangent space and bounding polytope approximating some patch of the manifold.
Definition: AtlasChart.h:53
bool inPolytope(const Eigen::Ref< const Eigen::VectorXd > &u, const Halfspace *ignore1=nullptr, const Halfspace *ignore2=nullptr) const
Check if a point u on the chart lies within its polytope boundary. Can ignore up to 2 of the halfspac...
Definition: AtlasChart.cpp:238
std::vector< Halfspace * > polytope_
Set of halfspaces defining the polytope boundary.
Definition: AtlasChart.h:242
bool estimateIsFrontier() const
Use sampling to make a quick estimate as to whether this chart's polytope boundary is completely defi...
Definition: AtlasChart.cpp:352
void addBoundary(Halfspace *halfspace)
Introduce a new halfspace to the chart's bounding polytope. This chart assumes responsibility for del...
Definition: AtlasChart.cpp:387
void clear()
Forget all acquired information such as the halfspace boundary.
Definition: AtlasChart.cpp:177
unsigned int getAmbientDimension() const
Returns the dimension of the ambient space.
Definition: AtlasChart.h:170
bool psi(const Eigen::Ref< const Eigen::VectorXd > &u, Eigen::Ref< Eigen::VectorXd > out) const
Exponential mapping. Project chart point u onto the manifold and store the result in out,...
Definition: AtlasChart.cpp:190
unsigned int getManifoldDimension() const
Returns the dimension of the manifold.
Definition: AtlasChart.h:176
~AtlasChart()
Destructor.
Definition: AtlasChart.cpp:172
void borderCheck(const Eigen::Ref< const Eigen::VectorXd > &v) const
Check if chart point v lies very close to any part of the boundary. Wherever it does,...
Definition: AtlasChart.cpp:256
bool toPolygon(std::vector< Eigen::VectorXd > &vertices) const
For manifolds of dimension 2, return in order in vertices the polygon boundary of this chart,...
Definition: AtlasChart.cpp:283
const Constraint * constraint_
The constraint function that defines the manifold.
Definition: AtlasChart.h:239
std::size_t getNeighborCount() const
Returns the number of charts this chart shares a halfspace boundary with.
Definition: AtlasChart.h:221
static void generateHalfspace(AtlasChart *c1, AtlasChart *c2)
Create two complementary halfspaces dividing the space between charts c1 and c2, and add them to the ...
Definition: AtlasChart.cpp:369
const AtlasStateSpace::StateType * getOrigin() const
Returns phi(0), the center of the chart in ambient space.
Definition: AtlasChart.h:164
void psiInverse(const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::Ref< Eigen::VectorXd > out) const
Logarithmic mapping. Project ambient point x onto the chart and store the result in out,...
Definition: AtlasChart.cpp:232
void phi(const Eigen::Ref< const Eigen::VectorXd > &u, Eigen::Ref< Eigen::VectorXd > out) const
Rewrite a chart point u in ambient space coordinates and store the result in out, which should be all...
Definition: AtlasChart.cpp:185
const AtlasChart * owningNeighbor(const Eigen::Ref< const Eigen::VectorXd > &x) const
Try to find an owner for ambient point \x from among the neighbors of this chart. Returns nullptr if ...
Definition: AtlasChart.cpp:262
A state in an atlas represented as a real vector in ambient space and a chart that it belongs to.
ConstrainedStateSpace encapsulating a planner-agnostic atlas algorithm for planning on a constraint m...
Definition of a differentiable holonomic constraint on a configuration space. See Constrained Plannin...
Definition: Constraint.h:76
Main namespace. Contains everything in this library.