Tscpolytope Struct Reference Detailed DescriptionThe area of influence of a chart is bounded by a polytope. In this case the polytope is bounded by a set of faces but no vertex is explicitlly stored. This way we save memory and complexity. The drawback is that we have to store all the faces defining the polytope (we can not detect useless faces) and the bounding boxes are less tight. Moreover all the charts that at any point intersected with the current chart will be keept as neighbours, even if from a given time they are no neighbours any more. One solution for this is to define a full Tpolytope (this has vertices and a minimum set of faces) from the simple polytope and then keep the surviving faces and the tighter bounding box. The simple polytope is only usefull in the AtlasRRT combination.
Definition at line 61 of file scpolytope.h.
Field Documentation
Dimension of the manifold Definition at line 62 of file scpolytope.h. Referenced by CopySPolytope(), CutSPolytope(), CutSPolytopeWithFace(), DetermineSPolytopeNeighbour(), EnlargeSPolytope(), GetSPolytopeDim(), GetSPolytopeFace(), InitEmptySPolytope(), InsideSPolytope(), LoadSPolytope(), RandomPointInSPolytope(), SaveSPolytope(), SPolytopeMaxVolume(), SPolytopeMemSize(), SPolytopeRandomPointOnBoundary(), and SPolytopeVolume().
Radius around p (in tangent space) where the linearization holds. Definition at line 63 of file scpolytope.h. Referenced by CopySPolytope(), CutSPolytope(), DetermineSPolytopeNeighbour(), GetSPolytopeRadius(), InitEmptySPolytope(), LoadSPolytope(), and SaveSPolytope().
Current sampling radius. Definition at line 65 of file scpolytope.h. Referenced by CopySPolytope(), GetSPolytopeBoxSide(), InitEmptySPolytope(), LoadSPolytope(), RandomPointInSPolytope(), SaveSPolytope(), SPolytopeDecreaseSamplingRadius(), SPolytopeGetSamplingRadius(), SPolytopeIncreaseSamplingRadius(), SPolytopeMaxVolume(), and SPolytopeVolume().
Lower bound for the sampling radius. This minimum ensures that the sampling area always includes the applicability area of a chart. This ensures probabilistic completeness. Definition at line 66 of file scpolytope.h. Referenced by CopySPolytope(), InitEmptySPolytope(), LoadSPolytope(), RandomPointInSPolytope(), SaveSPolytope(), and SPolytopeDecreaseSamplingRadius().
Upper bound for the sampling radius. Definition at line 69 of file scpolytope.h. Referenced by CopySPolytope(), InitEmptySPolytope(), InsideSPolytope(), LoadSPolytope(), RandomPointInSPolytope(), SaveSPolytope(), and SPolytopeIncreaseSamplingRadius().
Volume, Definition at line 70 of file scpolytope.h. Referenced by CopySPolytope(), CutSPolytopeWithFace(), EnlargeSPolytope(), InitEmptySPolytope(), LoadSPolytope(), SaveSPolytope(), and SPolytopeVolume().
Num faces defining the polytope so far. Definition at line 72 of file scpolytope.h. Referenced by CopySPolytope(), CutSPolytopeWithFace(), DeleteSPolytope(), DetermineSPolytopeNeighbour(), EnlargeSPolytope(), GetSPolytopeNFaces(), InitEmptySPolytope(), LoadSPolytope(), RandomPointInSPolytope(), SaveSPolytope(), SPolytopeMemSize(), and SPolytopeNumNeighbours().
Space for faces Definition at line 73 of file scpolytope.h. Referenced by CopySPolytope(), CutSPolytopeWithFace(), DefineSPolytope(), DeleteSPolytope(), InitEmptySPolytope(), LoadSPolytope(), and SaveSPolytope().
Parameters of the faces defining the polytope Definition at line 74 of file scpolytope.h. Referenced by CopySPolytope(), CutSPolytopeWithFace(), DefineSPolytope(), DeleteSPolytope(), DetermineSPolytopeNeighbour(), EnlargeSPolytope(), GetSPolytopeFace(), InitEmptySPolytope(), InsideSPolytope(), LoadSPolytope(), and SaveSPolytope().
Identifiers of the neighbouring charts (one per face). Definition at line 76 of file scpolytope.h. Referenced by CopySPolytope(), CutSPolytopeWithFace(), DefineSPolytope(), DeleteSPolytope(), DetermineSPolytopeNeighbour(), InitEmptySPolytope(), LoadSPolytope(), SaveSPolytope(), and SPolytopeNeighbourID(). |
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