Seed Decomp Class. More...

Inheritance diagram for SeedDecomp< Dim >:

Public Member Functions
	SeedDecomp ()
	Simple constructor.

	SeedDecomp (const Vecf< Dim > &p)
	Basic constructor. More...

void	dilate (decimal_t radius)
	Inflate the seed with a sphere. More...

Vecf< Dim >	get_seed () const
	Get the center.

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.

Protected Member Functions inherited from DecompBase< Dim >
void	find_polyhedron ()

Protected Attributes
Vecf< Dim >	p_
	Seed location.

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

Seed Decomp Class.

Dilate around the given point

Constructor & Destructor Documentation

template<int Dim>

SeedDecomp< Dim >::SeedDecomp ( const Vecf< Dim > & p )

inline

Basic constructor.

Parameters

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

template<int Dim>

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

inlinevirtual

Inflate the seed with a sphere.

Parameters

radius Robot radius

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