Inheritance diagram for IterativeDecomp< Dim >:

Public Member Functions
	IterativeDecomp ()
	Simple constructor.

	IterativeDecomp (const Vecf< Dim > &origin, const Vecf< Dim > &dim)
	Basic constructor. More...

void	dilate_iter (const vec_Vecf< Dim > &path_raw, int iter_num=5, decimal_t res=0, decimal_t offset_x=0)
	Decomposition thread. More...

Public Member Functions inherited from EllipsoidDecomp< Dim >
	EllipsoidDecomp ()
	Simple constructor.

	EllipsoidDecomp (const Vecf< Dim > &origin, const Vecf< Dim > &dim)
	Basic constructor. More...

void	set_obs (const vec_Vecf< Dim > &obs)
	Set obstacle points.

void	set_local_bbox (const Vecf< Dim > &bbox)
	Set dimension of bounding box.

vec_Vecf< Dim >	get_path () const
	Get the path that is used for dilation.

vec_E< Polyhedron< Dim > >	get_polyhedrons () const
	Get the Safe Flight Corridor.

vec_E< Ellipsoid< Dim > >	get_ellipsoids () const
	Get the ellipsoids.

vec_E< LinearConstraint< Dim > >	get_constraints () const
	Get the constraints of SFC as $Ax\leq b$ .

void	dilate (const vec_Vecf< Dim > &path, double offset_x=0)
	Decomposition thread. More...

Protected Member Functions
vec_Vecf< Dim >	downsample (const vec_Vecf< Dim > &ps, decimal_t d)
	Uniformly sample path into many segments.

decimal_t	cal_closest_dist (const Vecf< Dim > &pt, const Polyhedron< Dim > &vs)
	Get closest distance.

vec_Vecf< Dim >	simplify (const vec_Vecf< Dim > &path)
	Remove redundant waypoints.

Protected Member Functions inherited from EllipsoidDecomp< Dim >
template<int U = Dim>
std::enable_if< U==2 >::type	add_global_bbox (Polyhedron< Dim > &Vs)

template<int U = Dim>
std::enable_if< U==3 >::type	add_global_bbox (Polyhedron< Dim > &Vs)

Additional Inherited Members
Protected Attributes inherited from EllipsoidDecomp< Dim >
vec_Vecf< Dim >	path_

vec_Vecf< Dim >	obs_

vec_E< Ellipsoid< Dim > >	ellipsoids_

vec_E< Polyhedron< Dim > >	polyhedrons_

std::vector< std::shared_ptr< LineSegment< Dim > > >	lines_

Vecf< Dim >	local_bbox_ {Vecf<Dim>::Zero()}

Vecf< Dim >	global_bbox_min_ {Vecf<Dim>::Zero()}

Vecf< Dim >	global_bbox_max_ {Vecf<Dim>::Zero()}

Detailed Description

Iteratively calls ElliseDecomp to form a safer Safe Flight Corridor that is away from obstacles

Constructor & Destructor Documentation

template<int Dim>

IterativeDecomp< Dim >::IterativeDecomp	(	const Vecf< Dim > &	origin,
		const Vecf< Dim > &	dim
	)

inline

Basic constructor.

Parameters

origin	The origin of the global bounding box
dim	The dimension of the global bounding box

template<int Dim>

void IterativeDecomp< Dim >::dilate_iter	(	const vec_Vecf< Dim > &	path_raw,
		int	iter_num = `5`,
		decimal_t	res = `0`,
		decimal_t	offset_x = `0`
	)

inline

Decomposition thread.

Parameters

path_raw	The path to dilate
iter_num	Max iteration number
offset_x	offset added to the long semi-axis, default is 0
res	Resolution to downsample the path

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