DecompBase< Dim > Class Template Reference

Line Segment Class. More...

#include <decomp_base.h>

Inheritance diagram for DecompBase< Dim >:

Public Member Functions
	DecompBase ()
	Null constructor.
void	set_local_bbox (const Vecf< Dim > &bbox)
	Adding local bounding box around line seg. More...
void	set_obs (const vec_Vecf< Dim > &obs)
	Import obstacle points.
vec_Vecf< Dim >	get_obs () const
	Get obstacel points.
Ellipsoid< Dim >	get_ellipsoid () const
	Get ellipsoid.
Polyhedron< Dim >	get_polyhedron () const
	Get polyhedron.
virtual void	dilate (decimal_t radius=0)=0
	Inflate the line segment. More...
virtual void	shrink (double shrink_distance)
	Shrink the polyhedron. More...

Protected Member Functions
virtual void	add_local_bbox (Polyhedron< Dim > &Vs)=0
void	find_polyhedron ()

Protected Attributes
vec_Vecf< Dim >	obs_
	Obstacles, input.
Ellipsoid< Dim >	ellipsoid_
	Output ellipsoid.
Polyhedron< Dim >	polyhedron_
	Output polyhedron.
Vecf< Dim >	local_bbox_ {Vecf<Dim>::Zero()}
	Local bounding box along the line segment.

Detailed Description

template<int Dim>
class DecompBase< Dim >

Line Segment Class.

The basic element in EllipsoidDecomp

Member Function Documentation

template<int Dim>

virtual void DecompBase< Dim >::dilate ( decimal_t  radius = 0 )

pure virtual

Inflate the line segment.

Parameters

radius

the offset added to the long semi-axis

Implemented in LineSegment< Dim >, and SeedDecomp< Dim >.

template<int Dim>

void DecompBase< Dim >::set_local_bbox ( const Vecf< Dim > &  bbox )

inline

Adding local bounding box around line seg.

Parameters

Dim	Distance in corresponding axis

This virtual bounding box is parallel to the line segment, the x,y,z axes are not w.r.t the world coordinate system, but instead, x-axis is parallel to the line, y-axis is perpendicular to the line and world z-axis, z-axis is perpendiculat to the line and y-axis

template<int Dim>

virtual void DecompBase< Dim >::shrink ( double  shrink_distance )

inlinevirtual

Shrink the polyhedron.

Parameters

shrink_distance

Shrink distance

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

• include/decomp_util/decomp_base.h