LineSegment< Dim > Class Template Reference

Line Segment Class. More...

#include <line_segment.h>

Inheritance diagram for LineSegment< Dim >:

Public Member Functions
	LineSegment ()
	Simple constructor.
	LineSegment (const Vecf< Dim > &p1, const Vecf< Dim > &p2)
	Basic constructor. More...
void	dilate (decimal_t radius)
	Infalte the line segment. More...
vec_Vecf< Dim >	get_line_segment () const
	Get the line.
Public Member Functions inherited from DecompBase< Dim >
	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	shrink (double shrink_distance)
	Shrink the polyhedron. More...

Protected Member Functions
void	add_local_bbox (Polyhedron< Dim > &Vs)
	Add the bounding box.
template<int U = Dim>
std::enable_if< U==2 >::type	find_ellipsoid (double offset_x)
	Find ellipsoid in 2D.
template<int U = Dim>
std::enable_if< U==3 >::type	find_ellipsoid (double offset_x)
	Find ellipsoid in 3D.
Protected Member Functions inherited from DecompBase< Dim >
void	find_polyhedron ()

Protected Attributes
Vecf< Dim >	p1_
	One end of line segment, input.
Vecf< Dim >	p2_
	The other end of line segment, input.
Protected Attributes inherited from DecompBase< Dim >
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 LineSegment< Dim >

Line Segment Class.

The basic element in EllipsoidDecomp

Constructor & Destructor Documentation

template<int Dim>

LineSegment< Dim >::LineSegment ( const Vecf< Dim > &  p1, const Vecf< Dim > &  p2  )

inline

Basic constructor.

Parameters

p1	One end of the line seg
p2	The other end of the line seg

Member Function Documentation

template<int Dim>

void LineSegment< Dim >::dilate ( decimal_t  radius )

inlinevirtual

Infalte the line segment.

Parameters

radius

the offset added to the long semi-axis

Implements DecompBase< Dim >.

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

• include/decomp_util/line_segment.h