Template Class Env_PCD

Defined in File env_pcd.hpp

Nested Relationships

Nested Types

Struct Env_PCD::VoxelGrid

Inheritance Relationships

Base Type

private sdsl::Environment< D, Kernel::FT > (Template Class Environment)

Class Documentation

template<typename Kernel, int D> class Env_PCD : private sdsl::Environment<D, Kernel::FT>

Public Types

using Env_PCD_repr = nb::ndarray<double, nb::numpy, nb::shape<-1, 3>, nb::f_contig>

Public Functions

inline Env_PCD()

inline Env_PCD(std::vector<Point_3> points)

inline Env_PCD(const nb::ndarray<double, nb::shape<-1, 3>> a)

inline Env_PCD(const nb::ndarray<double, nb::shape<-1, 2>> a)

inline Env_PCD_repr getRepresentation()

inline virtual bool intersects(Voxel<D, FT> v) override

Test whether a voxel intersects with the environment.

Parameters:: v –
Returns:: True if v intersects with the environment.

inline virtual double measureDistance(Configuration<D, FT> q)

Measure the distance perceived from a configuration q.

Parameters:: q –
Returns:: The measured distance.

inline double hausdorffDistance(Configuration<D, FT> q)

inline double voxelHausdorffDistance(Voxel<D, FT> v)

inline Voxel<D, FT> boundingBox()

inline virtual bool contains(Configuration<D, FT> q) override

Test whever a configuration is contained whithin the environment.

Parameters:: q –
Returns:: True if q is contained in the environment.

inline virtual bool collisionDetection(Configuration<D, FT> q1, Configuration<D, FT> q2) override

Test whether the line between two configurations intersects with the environment.

Parameters:

q1 –
q2 –

Returns:

True if the line between q1 and q2 intersects with the environment.

inline Voxel<D, FT> forward(FT d, Configuration<D, FT> g, Voxel<D, FT> v)