Inheritance diagram for VirtualRobot::WorkspaceRepresentation:

Data Structures
struct	VolumeInfo

struct	WorkspaceCut2D

struct	WorkspaceCut2DTransformation

Public Types
enum	eOrientationType { RPY, EulerXYZ, EulerXYZExtrinsic, Hopf }

typedef int32_t	ioIntTypeRead

typedef std::shared_ptr< WorkspaceCut2D >	WorkspaceCut2DPtr

typedef std::shared_ptr< WorkspaceCut2DTransformation >	WorkspaceCut2DTransformationPtr

Public Member Functions
	WorkspaceRepresentation (RobotPtr robot)

virtual void	reset ()

virtual void	load (const std::string &filename)

virtual void	save (const std::string &filename)

unsigned char	getEntry (const Eigen::Matrix4f &globalPose) const

int	getMaxEntry () const
	Returns the maximum entry of a voxel. More...

float	getVoxelSize (int dim) const
	returns the extends of a voxel at corresponding dimension. More...

RobotNodePtr	getBaseNode ()
	The base node of this workspace data. More...

RobotNodePtr	getTCP ()
	The corresponding TCP. More...

RobotNodeSetPtr	getNodeSet ()
	The kinematic chain that is covered by this workspace data. More...

void	invalidateBehindRobot (bool inverted=false)

virtual void	initialize (RobotNodeSetPtr nodeSet, float discretizeStepTranslation, float discretizeStepRotation, const float minBounds[6], const float maxBounds[6], SceneObjectSetPtr staticCollisionModel=SceneObjectSetPtr(), SceneObjectSetPtr dynamicCollisionModel=SceneObjectSetPtr(), RobotNodePtr baseNode=RobotNodePtr(), RobotNodePtr tcpNode=RobotNodePtr(), bool adjustOnOverflow=true)

virtual void	setCurrentTCPPoseEntryIfLower (unsigned char e)

virtual void	setCurrentTCPPoseEntry (unsigned char e)

virtual void	addPose (const Eigen::Matrix4f &globalPose)

virtual void	addPose (const Eigen::Matrix4f &p, PoseQualityMeasurementPtr qualMeasure)
	addPose Adds pose and rate it with the given quality measure. Ignored in this implementation, but used in derived classes ( More...

virtual void	clear ()

virtual bool	setRobotNodesToRandomConfig (VirtualRobot::RobotNodeSetPtr nodeSet=VirtualRobot::RobotNodeSetPtr(), bool checkForSelfCollisions=true)

virtual void	binarize ()

virtual int	fillHoles (unsigned int minNeighbors=1)

virtual void	print ()

Eigen::Matrix4f	sampleCoveredPose ()
	returns a random pose that is covered by the workspace data More...

bool	isCovered (const Eigen::Matrix4f &globalPose)

bool	isCovered (unsigned int v[6])

virtual int	getNumVoxels (int dim) const

virtual float	getMinBound (int dim) const

virtual float	getMaxBound (int dim) const

virtual unsigned char	getVoxelEntry (unsigned int a, unsigned int b, unsigned int c, unsigned int d, unsigned int e, unsigned int f) const

virtual int	sumAngleReachabilities (int x0, int x1, int x2) const

virtual int	avgAngleReachabilities (int x0, int x1, int x2) const

virtual int	getMaxEntry (int x0, int x1, int x2) const

virtual int	getMaxEntry (const Eigen::Vector3f &position_global) const

virtual bool	getVoxelFromPose (const Eigen::Matrix4f &globalPose, unsigned int v[6]) const

virtual bool	getVoxelFromPosition (const Eigen::Matrix4f &globalPose, unsigned int v[3]) const

Eigen::Matrix4f	getPoseFromVoxel (unsigned int v[6], bool transformToGlobalPose=true)

Eigen::Matrix4f	getPoseFromVoxel (float v[6], bool transformToGlobalPose=true)

virtual int	getMaxSummedAngleReachablity ()

virtual bool	hasEntry (unsigned int x, unsigned int y, unsigned int z)

virtual bool	checkForParameters (RobotNodeSetPtr nodeSet, float steps, float storeMinBounds[6], float storeMaxBounds[6], RobotNodePtr baseNode=RobotNodePtr(), RobotNodePtr tcpNode=RobotNodePtr())

WorkspaceCut2DPtr	createCut (const Eigen::Matrix4f &referencePose, float cellSize, bool sumAngles) const

WorkspaceCut2DPtr	createCut (float heightPercent, float cellSize, bool sumAngles) const
	createCut Create a cut at a specific height (assuming z is upwards). More...

std::vector< WorkspaceCut2DTransformationPtr >	createCutTransformations (WorkspaceCut2DPtr cutXY, RobotNodePtr referenceNode=RobotNodePtr(), float maxAngle=M_PIf32)

bool	getWorkspaceExtends (Eigen::Vector3f &storeMinBBox, Eigen::Vector3f &storeMaxBBox) const

MathTools::OOBB	getOOBB (bool achievedValues=false) const

float	getDiscretizeParameterTranslation ()

float	getDiscretizeParameterRotation ()

RobotPtr	getRobot ()

SceneObjectSetPtr	getCollisionModelStatic ()

SceneObjectSetPtr	getCollisionModelDynamic ()

RobotNodePtr	getTcp ()

bool	getAdjustOnOverflow ()

virtual void	addCurrentTCPPose ()

void	addRandomTCPPoses (unsigned int loops, bool checkForSelfCollisions=true)

virtual void	addRandomTCPPoses (unsigned int loops, unsigned int numThreads, bool checkForSelfCollisions=true)

void	setVoxelEntry (unsigned int v[6], unsigned char e)

void	setEntry (const Eigen::Matrix4f &poseGlobal, unsigned char e)

void	setEntryCheckNeighbors (const Eigen::Matrix4f &poseGlobal, unsigned char e, unsigned int neighborVoxels)

virtual void	toLocal (Eigen::Matrix4f &p) const

virtual void	toGlobal (Eigen::Matrix4f &p) const

void	toLocalVec (Eigen::Vector3f &positionGlobal) const

void	toGlobalVec (Eigen::Vector3f &positionLocal) const

void	matrix2Vector (const Eigen::Matrix4f &m, float x[6]) const
	Convert a 4x4 matrix to a pos + ori vector. More...

void	vector2Matrix (const float x[6], Eigen::Matrix4f &m) const

void	vector2Matrix (const Eigen::Vector3f &pos, const Eigen::Vector3f &rot, Eigen::Matrix4f &m) const

virtual bool	getVoxelFromPose (float x[6], unsigned int v[6]) const

virtual bool	getVoxelFromPosition (float x[3], unsigned int v[3]) const

void	setOrientationType (eOrientationType t)

virtual WorkspaceRepresentationPtr	clone ()

WorkspaceDataPtr	getData ()

bool	getPoseFromVoxel (unsigned int x[], float v[]) const

virtual VolumeInfo	computeVolumeInformation ()

Data Fields
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef int32_t	ioIntTypeWrite

Protected Member Functions
virtual bool	customLoad (std::ifstream &)

virtual bool	customSave (std::ofstream &)

virtual void	customInitialize ()

virtual void	customPrint ()

void	uncompressData (const unsigned char source, int size, unsigned char dest)
	Uncompress the data. More...

unsigned char *	compressData (const unsigned char *source, int size, int &compressedSize)
	Compress the data. More...

virtual Eigen::Matrix4f	getToLocalTransformation () const

virtual Eigen::Matrix4f	getToGlobalTransformation () const

Protected Attributes
RobotPtr	robot

RobotNodePtr	baseNode

RobotNodePtr	tcpNode

RobotNodeSetPtr	nodeSet

SceneObjectSetPtr	staticCollisionModel

SceneObjectSetPtr	dynamicCollisionModel

int	buildUpLoops

int	collisionConfigs

float	discretizeStepTranslation

float	discretizeStepRotation

float	minBounds [6]

float	maxBounds [6]

int	numVoxels [6]

float	achievedMinValues [6]

float	achievedMaxValues [6]

float	spaceSize [6]

WorkspaceDataPtr	data

bool	adjustOnOverflow

std::string	type

int	versionMajor

int	versionMinor

eOrientationType	orientationType
	Specifies how the rotation part (x[3],x[4],x[5]) of an 6D voxel entry is encoded. More...

Friends
class	CoinVisualizationFactory

Detailed Description

This class represents a voxelized approximation of the workspace that is covered by a kinematic chain of a robot. The voxel grid covers the 6d Cartesian space: xyz translations (mm) and Tait-Bryan angles (eulerXYZ, fixed frame, extrinsic) orientations. Older versions (<=2.5) used RPY (intrinsic) for storing orientations, but it turned out that this representation is not suitable for discretization. Each voxels holds a counter (uchar) that holds information, e.g. about reachability. The discretized data can be written to and loaded from binary files.

The data is linked to a base coordinate system which is defined by a robot joint. This base system is used to align the data when the robot is moving. I.E. think of an arm of a humanoid where the workspace representation is linked to the shoulder. When the torso moves, the data representation also changes it's position according to the position of the shoulder.

Member Typedef Documentation

◆ ioIntTypeRead

typedef int32_t VirtualRobot::WorkspaceRepresentation::ioIntTypeRead

◆ WorkspaceCut2DPtr

typedef std::shared_ptr<WorkspaceCut2D> VirtualRobot::WorkspaceRepresentation::WorkspaceCut2DPtr

◆ WorkspaceCut2DTransformationPtr

typedef std::shared_ptr<WorkspaceCut2DTransformation> VirtualRobot::WorkspaceRepresentation::WorkspaceCut2DTransformationPtr

Member Enumeration Documentation

◆ eOrientationType

enum VirtualRobot::WorkspaceRepresentation::eOrientationType

Enumerator
RPY
EulerXYZ
EulerXYZExtrinsic
Hopf

Constructor & Destructor Documentation

◆ WorkspaceRepresentation()

VirtualRobot::WorkspaceRepresentation::WorkspaceRepresentation ( RobotPtr robot )

Member Function Documentation

◆ addCurrentTCPPose()

void VirtualRobot::WorkspaceRepresentation::addCurrentTCPPose ( )

virtual

Compute the quality of the current pose and add entry to voxel data (if is larger than the existing entry).

◆ addPose() [1/2]

void VirtualRobot::WorkspaceRepresentation::addPose ( const Eigen::Matrix4f & globalPose )

virtual

Reimplemented in VirtualRobot::Manipulability, and VirtualRobot::NaturalPosture.

◆ addPose() [2/2]

void VirtualRobot::WorkspaceRepresentation::addPose	(	const Eigen::Matrix4f &	p,
		PoseQualityMeasurementPtr	qualMeasure
	)

virtual

addPose Adds pose and rate it with the given quality measure. Ignored in this implementation, but used in derived classes (

See also: Manipulability)

Parameters

p
qualMeasure

Reimplemented in VirtualRobot::Manipulability.

◆ addRandomTCPPoses() [1/2]

void VirtualRobot::WorkspaceRepresentation::addRandomTCPPoses	(	unsigned int	loops,
		bool	checkForSelfCollisions = `true`
	)

Append a number of random TCP poses to workspace Data. For bigger sampling rates (loops > 50.000) you should consider this method's multithreaded pendant.

Parameters

loops	Number of poses that should be appended
checkForSelfCollisions	Build a collision-free configuration. If true, random configs are generated until one is collision-free.

◆ addRandomTCPPoses() [2/2]

void VirtualRobot::WorkspaceRepresentation::addRandomTCPPoses	(	unsigned int	loops,
		unsigned int	numThreads,
		bool	checkForSelfCollisions = `true`
	)

virtual

Appends a number of random TCP poses to workspace Data (multithreaded). This method is blocking, i.e. it returns as soon as all threads are done.

Parameters

loops	Number of poses that should be appended
numThreads	number of worker threads used behind the scenes to append random TCP poses to workspace data.
checkForSelfCollisions	Build a collision-free configuration. If true, random configs are generated until one is collision-free.

Reimplemented in VirtualRobot::Manipulability.

◆ avgAngleReachabilities()

int VirtualRobot::WorkspaceRepresentation::avgAngleReachabilities	(	int	x0,
		int	x1,
		int	x2
	)		const

virtual

◆ binarize()

void VirtualRobot::WorkspaceRepresentation::binarize ( )

virtual

Cut all data >1 to 1. This reduces the file size when saving compressed data.

◆ checkForParameters()

bool VirtualRobot::WorkspaceRepresentation::checkForParameters	(	RobotNodeSetPtr	nodeSet,
		float	steps,
		float	storeMinBounds[6],
		float	storeMaxBounds[6],
		RobotNodePtr	baseNode = `RobotNodePtr()`,
		RobotNodePtr	tcpNode = `RobotNodePtr()`
	)

virtual

Estimate a parameter setup for the given RNS by randomly set configurations and check for achieved workspace extends. The results are slightly scaled.

Parameters

ndoeSet
steps	How many loops should be performed to estimate the result. Chose a value >= 1000.
storeMinBounds	Workspace extend from min
storeMaxBounds	Workspace extend to max
baseNode
tcpNode

Returns: True on success.

◆ clear()

void VirtualRobot::WorkspaceRepresentation::clear ( )

virtual

Clears all data

◆ clone()

VirtualRobot::WorkspaceRepresentationPtr VirtualRobot::WorkspaceRepresentation::clone ( )

virtual

Creates a deep copy of this data structure. Derived classes may overwrite this method that provides a generic interface for cloning.

Reimplemented in VirtualRobot::Manipulability, and VirtualRobot::Reachability.

◆ compressData()

unsigned char * VirtualRobot::WorkspaceRepresentation::compressData	(	const unsigned char *	source,
		int	size,
		int &	compressedSize
	)

protected

Compress the data.

◆ computeVolumeInformation()

WorkspaceRepresentation::VolumeInfo VirtualRobot::WorkspaceRepresentation::computeVolumeInformation ( )

virtual

◆ createCut() [1/2]

WorkspaceRepresentation::WorkspaceCut2DPtr VirtualRobot::WorkspaceRepresentation::createCut	(	const Eigen::Matrix4f &	referencePose,
		float	cellSize,
		bool	sumAngles
	)		const

Create a horizontal cut through this workspace data. Therefore, the z component and the orientation of the reference pose (in global coordinate system) is used. Then the x and y components are iterated and the corresponding entires are used to fill the 2d grid.

◆ createCut() [2/2]

WorkspaceRepresentation::WorkspaceCut2DPtr VirtualRobot::WorkspaceRepresentation::createCut	(	float	heightPercent,
		float	cellSize,
		bool	sumAngles
	)		const

createCut Create a cut at a specific height (assuming z is upwards).

Parameters

heightPercent	Value in [0,1]
cellSize	The discretization step size of the result

Returns

◆ createCutTransformations()

std::vector< WorkspaceRepresentation::WorkspaceCut2DTransformationPtr > VirtualRobot::WorkspaceRepresentation::createCutTransformations	(	WorkspaceRepresentation::WorkspaceCut2DPtr	cutXY,
		RobotNodePtr	referenceNode = `RobotNodePtr()`,
		float	maxAngle = `M_PIf32`
	)

Build all transformations from referenceNode to cutXY data.h Only entries>0 are considered. If referenceNode is set, the transformations are given in the corresponding coordinate system.

◆ customInitialize()

virtual void VirtualRobot::WorkspaceRepresentation::customInitialize ( )

inlineprotectedvirtual

Reimplemented in VirtualRobot::Manipulability, and VirtualRobot::NaturalPosture.

◆ customLoad()

virtual bool VirtualRobot::WorkspaceRepresentation::customLoad ( std::ifstream & )

inlineprotectedvirtual

Derived classes may implement some custom data access.

Reimplemented in VirtualRobot::Manipulability.

◆ customPrint()

virtual void VirtualRobot::WorkspaceRepresentation::customPrint ( )

inlineprotectedvirtual

Reimplemented in VirtualRobot::Manipulability.

◆ customSave()

virtual bool VirtualRobot::WorkspaceRepresentation::customSave ( std::ofstream & )

inlineprotectedvirtual

Derived classes may implement some custom data access.

Reimplemented in VirtualRobot::Manipulability.

◆ fillHoles()

int VirtualRobot::WorkspaceRepresentation::fillHoles ( unsigned int minNeighbors = 1 )

virtual

Checks for all voxels with entry==0 if there are neighbors with entries>0. If so the entry is set to the averaged value of the neighbors

Parameters

minNeighbors The minimum number of neighbors that have to have an entry>0

Returns: The number of changed voxels.

◆ getAdjustOnOverflow()

bool VirtualRobot::WorkspaceRepresentation::getAdjustOnOverflow ( )

inline

◆ getBaseNode()

RobotNodePtr VirtualRobot::WorkspaceRepresentation::getBaseNode ( )

The base node of this workspace data.

◆ getCollisionModelDynamic()

SceneObjectSetPtr VirtualRobot::WorkspaceRepresentation::getCollisionModelDynamic ( )

inline

◆ getCollisionModelStatic()

SceneObjectSetPtr VirtualRobot::WorkspaceRepresentation::getCollisionModelStatic ( )

inline

◆ getData()

VirtualRobot::WorkspaceDataPtr VirtualRobot::WorkspaceRepresentation::getData ( )

Returns the raw data.

◆ getDiscretizeParameterRotation()

float VirtualRobot::WorkspaceRepresentation::getDiscretizeParameterRotation ( )

◆ getDiscretizeParameterTranslation()

float VirtualRobot::WorkspaceRepresentation::getDiscretizeParameterTranslation ( )

◆ getEntry()

unsigned char VirtualRobot::WorkspaceRepresentation::getEntry ( const Eigen::Matrix4f & globalPose ) const

Return corresponding entry of workspace data

◆ getMaxBound()

float VirtualRobot::WorkspaceRepresentation::getMaxBound ( int dim ) const

virtual

◆ getMaxEntry() [1/3]

int VirtualRobot::WorkspaceRepresentation::getMaxEntry ( ) const

Returns the maximum entry of a voxel.

◆ getMaxEntry() [2/3]

int VirtualRobot::WorkspaceRepresentation::getMaxEntry	(	int	x0,
		int	x1,
		int	x2
	)		const

virtual

Searches all angle entries (x3,x4,x5) for maximum entry. (x0,x1,x2) is the voxel position.

◆ getMaxEntry() [3/3]

int VirtualRobot::WorkspaceRepresentation::getMaxEntry ( const Eigen::Vector3f & position_global ) const

virtual

Returns the maximum workspace entry that can be achieved by an arbitrary orientation at the given position.

◆ getMaxSummedAngleReachablity()

int VirtualRobot::WorkspaceRepresentation::getMaxSummedAngleReachablity ( )

virtual

Returns the maximum that can be achieved by calling sumAngleReachabilities()

◆ getMinBound()

float VirtualRobot::WorkspaceRepresentation::getMinBound ( int dim ) const

virtual

◆ getNodeSet()

RobotNodeSetPtr VirtualRobot::WorkspaceRepresentation::getNodeSet ( )

The kinematic chain that is covered by this workspace data.

◆ getNumVoxels()

int VirtualRobot::WorkspaceRepresentation::getNumVoxels ( int dim ) const

virtual

◆ getOOBB()

MathTools::OOBB VirtualRobot::WorkspaceRepresentation::getOOBB ( bool achievedValues = false ) const

The bounding box in global frame.

Parameters

achievedValues If not set the bounding box as defined on construction is returned. If set the min/max achieved positions are used.

Returns: The object oriented bounding box

◆ getPoseFromVoxel() [1/3]

Eigen::Matrix4f VirtualRobot::WorkspaceRepresentation::getPoseFromVoxel	(	unsigned int	v[6],
		bool	transformToGlobalPose = `true`
	)

Computes center of corresponding voxel in global coord system.

◆ getPoseFromVoxel() [2/3]

Eigen::Matrix4f VirtualRobot::WorkspaceRepresentation::getPoseFromVoxel	(	float	v[6],
		bool	transformToGlobalPose = `true`
	)

◆ getPoseFromVoxel() [3/3]

bool VirtualRobot::WorkspaceRepresentation::getPoseFromVoxel	(	unsigned int	x[],
		float	v[]
	)		const

◆ getRobot()

RobotPtr VirtualRobot::WorkspaceRepresentation::getRobot ( )

inline

◆ getTCP()

RobotNodePtr VirtualRobot::WorkspaceRepresentation::getTCP ( )

The corresponding TCP.

◆ getTcp()

RobotNodePtr VirtualRobot::WorkspaceRepresentation::getTcp ( )

inline

◆ getToGlobalTransformation()

Eigen::Matrix4f VirtualRobot::WorkspaceRepresentation::getToGlobalTransformation ( ) const

protectedvirtual

◆ getToLocalTransformation()

Eigen::Matrix4f VirtualRobot::WorkspaceRepresentation::getToLocalTransformation ( ) const

protectedvirtual

◆ getVoxelEntry()

unsigned char VirtualRobot::WorkspaceRepresentation::getVoxelEntry	(	unsigned int	a,
		unsigned int	b,
		unsigned int	c,
		unsigned int	d,
		unsigned int	e,
		unsigned int	f
	)		const

virtual

get entry of given voxel.

◆ getVoxelFromPose() [1/2]

bool VirtualRobot::WorkspaceRepresentation::getVoxelFromPose	(	const Eigen::Matrix4f &	globalPose,
		unsigned int	v[6]
	)		const

virtual

Get the corresponding voxel. If false is returned the pose is outside the covered workspace.

◆ getVoxelFromPose() [2/2]

bool VirtualRobot::WorkspaceRepresentation::getVoxelFromPose	(	float	x[6],
		unsigned int	v[6]
	)		const

virtual

◆ getVoxelFromPosition() [1/2]

bool VirtualRobot::WorkspaceRepresentation::getVoxelFromPosition	(	const Eigen::Matrix4f &	globalPose,
		unsigned int	v[3]
	)		const

virtual

Get the corresponding voxel coordinates. If false is returned the position is outside the covered workspace.

◆ getVoxelFromPosition() [2/2]

bool VirtualRobot::WorkspaceRepresentation::getVoxelFromPosition	(	float	x[3],
		unsigned int	v[3]
	)		const

virtual

◆ getVoxelSize()

float VirtualRobot::WorkspaceRepresentation::getVoxelSize ( int dim ) const

returns the extends of a voxel at corresponding dimension.

◆ getWorkspaceExtends()

bool VirtualRobot::WorkspaceRepresentation::getWorkspaceExtends	(	Eigen::Vector3f &	storeMinBBox,
		Eigen::Vector3f &	storeMaxBBox
	)		const

Computes the axis aligned bounding box of this object in global coordinate system. Note, that the bbox changes when the robot moves.

◆ hasEntry()

bool VirtualRobot::WorkspaceRepresentation::hasEntry	(	unsigned int	x,
		unsigned int	y,
		unsigned int	z
	)

virtual

Returns true if for the given 3d position is at least one entry >0

Parameters

x	Voxel position x0
y	Voxel position x1
z	Voxel position x2

◆ initialize()

void VirtualRobot::WorkspaceRepresentation::initialize	(	RobotNodeSetPtr	nodeSet,
		float	discretizeStepTranslation,
		float	discretizeStepRotation,
		const float	minBounds[6],
		const float	maxBounds[6],
		SceneObjectSetPtr	staticCollisionModel = `SceneObjectSetPtr()`,
		SceneObjectSetPtr	dynamicCollisionModel = `SceneObjectSetPtr()`,
		RobotNodePtr	baseNode = `RobotNodePtr()`,
		RobotNodePtr	tcpNode = `RobotNodePtr()`,
		bool	adjustOnOverflow = `true`
	)

virtual

Initialize and reset all data.

Parameters

nodeSet	The robot node set that should be considered for workspace (e.g. reachability) analysis.
discretizeStepTranslation	The extend of a voxel dimension in translational dimensions (x,y,z) [mm]
discretizeStepRotation	The extend of a voxel dimension in rotational dimensions (roll, pitch, yaw) [rad]
minBounds	The minimum workspace poses (x,y,z,ro,pi,ya) given in baseNode's coordinate system [mm and rad]
maxBounds	The maximum workspace poses (x,y,z,ro,pi,ya) given in baseNode's coordinate system [mm and rad]
staticCollisionModel	The static collision model of the robot. This model does not move when changing the configuration of the RobotNodeSet. If not set no collisions will be checked when building the reachability data
dynamicCollisionModel	The dynamic collision model of the robot. This model does move when changing the configuration of the RobotNodeSet. If not set no collisions will be checked when building the reachability data.
baseNode	Perform the computations in the coordinate system of this node. If not set, the global pose is used (be careful, when the robot moves around global poses may not be meaningful!)
tcpNode	If given, the pose of this node is used for workspace calculations. If not given, the TCP node of the nodeSet is used.
adjustOnOverflow	If set, the 8bit data is divided by 2 when one voxel entry exceeds 255. Otherwise the entries remain at 255.

◆ invalidateBehindRobot()

void VirtualRobot::WorkspaceRepresentation::invalidateBehindRobot ( bool inverted = false )

◆ isCovered() [1/2]

bool VirtualRobot::WorkspaceRepresentation::isCovered ( const Eigen::Matrix4f & globalPose )

Returns true, if the corresponding voxel entry is not zero.

◆ isCovered() [2/2]

bool VirtualRobot::WorkspaceRepresentation::isCovered ( unsigned int v[6] )

Returns true, if voxel entry is not zero.

◆ load()

void VirtualRobot::WorkspaceRepresentation::load ( const std::string & filename )

virtual

Load the workspace data from a binary file. Exceptions are thrown on case errors are detected.

◆ matrix2Vector()

void VirtualRobot::WorkspaceRepresentation::matrix2Vector	(	const Eigen::Matrix4f &	m,
		float	x[6]
	)		const

Convert a 4x4 matrix to a pos + ori vector.

◆ print()

void VirtualRobot::WorkspaceRepresentation::print ( )

virtual

Print status information

◆ reset()

void VirtualRobot::WorkspaceRepresentation::reset ( )

virtual

Reset all data.

◆ sampleCoveredPose()

Eigen::Matrix4f VirtualRobot::WorkspaceRepresentation::sampleCoveredPose ( )

returns a random pose that is covered by the workspace data

◆ save()

void VirtualRobot::WorkspaceRepresentation::save ( const std::string & filename )

virtual

Store the workspace data to a binary file. Exceptions are thrown on case errors are detected.

◆ setCurrentTCPPoseEntry()

void VirtualRobot::WorkspaceRepresentation::setCurrentTCPPoseEntry ( unsigned char e )

virtual

Sets entry that corresponds to TCP pose to e. Therefore the corresponding voxel of the current TCP pose is determined and its entry is set.

◆ setCurrentTCPPoseEntryIfLower()

void VirtualRobot::WorkspaceRepresentation::setCurrentTCPPoseEntryIfLower ( unsigned char e )

virtual

Sets entry that corresponds to TCP pose to e, if current entry is lower than e. Therefore the corresponding voxel of the current TCP pose is determined and its entry is adjusted.

◆ setEntry()

void VirtualRobot::WorkspaceRepresentation::setEntry	(	const Eigen::Matrix4f &	poseGlobal,
		unsigned char	e
	)

◆ setEntryCheckNeighbors()

void VirtualRobot::WorkspaceRepresentation::setEntryCheckNeighbors	(	const Eigen::Matrix4f &	poseGlobal,
		unsigned char	e,
		unsigned int	neighborVoxels
	)

◆ setOrientationType()

void VirtualRobot::WorkspaceRepresentation::setOrientationType ( eOrientationType t )

Usually not needed. Don't call this method after data has been loaded or created!

◆ setRobotNodesToRandomConfig()

bool VirtualRobot::WorkspaceRepresentation::setRobotNodesToRandomConfig	(	VirtualRobot::RobotNodeSetPtr	nodeSet = `VirtualRobot::RobotNodeSetPtr()`,
		bool	checkForSelfCollisions = `true`
	)

virtual

Generate a random configuration for the robot node set. This configuration is within the joint limits of the current robot node set.

Parameters

nodeSet	The nodes. If not given, the standard nodeSet is used.
checkForSelfCollisions	Build a collision-free configuration. If true, random configs are generated until one is collision-free.

◆ setVoxelEntry()

void VirtualRobot::WorkspaceRepresentation::setVoxelEntry	(	unsigned int	v[6],
		unsigned char	e
	)

◆ sumAngleReachabilities()

int VirtualRobot::WorkspaceRepresentation::sumAngleReachabilities	(	int	x0,
		int	x1,
		int	x2
	)		const

virtual

Sums all angle (x3,x4,x5) entries for the given position.

◆ toGlobal()

void VirtualRobot::WorkspaceRepresentation::toGlobal ( Eigen::Matrix4f & p ) const

virtual

◆ toGlobalVec()

void VirtualRobot::WorkspaceRepresentation::toGlobalVec ( Eigen::Vector3f & positionLocal ) const

◆ toLocal()

void VirtualRobot::WorkspaceRepresentation::toLocal ( Eigen::Matrix4f & p ) const

virtual

◆ toLocalVec()

void VirtualRobot::WorkspaceRepresentation::toLocalVec ( Eigen::Vector3f & positionGlobal ) const

◆ uncompressData()

void VirtualRobot::WorkspaceRepresentation::uncompressData	(	const unsigned char *	source,
		int	size,
		unsigned char *	dest
	)

protected

Uncompress the data.

◆ vector2Matrix() [1/2]

void VirtualRobot::WorkspaceRepresentation::vector2Matrix	(	const float	x[6],
		Eigen::Matrix4f &	m
	)		const

◆ vector2Matrix() [2/2]

void VirtualRobot::WorkspaceRepresentation::vector2Matrix	(	const Eigen::Vector3f &	pos,
		const Eigen::Vector3f &	rot,
		Eigen::Matrix4f &	m
	)		const

Friends And Related Function Documentation

◆ CoinVisualizationFactory

friend class CoinVisualizationFactory

friend

Field Documentation

◆ achievedMaxValues

float VirtualRobot::WorkspaceRepresentation::achievedMaxValues[6]

protected

◆ achievedMinValues

float VirtualRobot::WorkspaceRepresentation::achievedMinValues[6]

protected

◆ adjustOnOverflow

bool VirtualRobot::WorkspaceRepresentation::adjustOnOverflow

protected

◆ baseNode

RobotNodePtr VirtualRobot::WorkspaceRepresentation::baseNode

protected

◆ buildUpLoops

int VirtualRobot::WorkspaceRepresentation::buildUpLoops

protected

◆ collisionConfigs

int VirtualRobot::WorkspaceRepresentation::collisionConfigs

protected

◆ data

WorkspaceDataPtr VirtualRobot::WorkspaceRepresentation::data

protected

◆ discretizeStepRotation

float VirtualRobot::WorkspaceRepresentation::discretizeStepRotation

protected

◆ discretizeStepTranslation

float VirtualRobot::WorkspaceRepresentation::discretizeStepTranslation

protected

◆ dynamicCollisionModel

SceneObjectSetPtr VirtualRobot::WorkspaceRepresentation::dynamicCollisionModel

protected

◆ ioIntTypeWrite

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef int32_t VirtualRobot::WorkspaceRepresentation::ioIntTypeWrite

◆ maxBounds

float VirtualRobot::WorkspaceRepresentation::maxBounds[6]

protected

◆ minBounds

float VirtualRobot::WorkspaceRepresentation::minBounds[6]

protected

◆ nodeSet

RobotNodeSetPtr VirtualRobot::WorkspaceRepresentation::nodeSet

protected

◆ numVoxels

int VirtualRobot::WorkspaceRepresentation::numVoxels[6]

protected

◆ orientationType

eOrientationType VirtualRobot::WorkspaceRepresentation::orientationType

protected

Specifies how the rotation part (x[3],x[4],x[5]) of an 6D voxel entry is encoded.

◆ robot

RobotPtr VirtualRobot::WorkspaceRepresentation::robot

protected

◆ spaceSize

float VirtualRobot::WorkspaceRepresentation::spaceSize[6]

protected

◆ staticCollisionModel

SceneObjectSetPtr VirtualRobot::WorkspaceRepresentation::staticCollisionModel

protected

◆ tcpNode

RobotNodePtr VirtualRobot::WorkspaceRepresentation::tcpNode

protected

◆ type

std::string VirtualRobot::WorkspaceRepresentation::type

protected

◆ versionMajor

int VirtualRobot::WorkspaceRepresentation::versionMajor

protected

◆ versionMinor

int VirtualRobot::WorkspaceRepresentation::versionMinor

protected

Data Structures

Public Types

Public Member Functions

Data Fields

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ ioIntTypeRead

◆ WorkspaceCut2DPtr

◆ WorkspaceCut2DTransformationPtr

Member Enumeration Documentation

◆ eOrientationType

Constructor & Destructor Documentation

◆ WorkspaceRepresentation()

Member Function Documentation

◆ addCurrentTCPPose()

◆ addPose() [1/2]

◆ addPose() [2/2]

◆ addRandomTCPPoses() [1/2]

◆ addRandomTCPPoses() [2/2]

◆ avgAngleReachabilities()

◆ binarize()

◆ checkForParameters()

◆ clear()

◆ clone()

◆ compressData()

◆ computeVolumeInformation()

◆ createCut() [1/2]

◆ createCut() [2/2]

◆ createCutTransformations()

◆ customInitialize()

◆ customLoad()

◆ customPrint()

◆ customSave()

◆ fillHoles()

◆ getAdjustOnOverflow()

◆ getBaseNode()

◆ getCollisionModelDynamic()

◆ getCollisionModelStatic()

◆ getData()

◆ getDiscretizeParameterRotation()

◆ getDiscretizeParameterTranslation()

◆ getEntry()

◆ getMaxBound()

◆ getMaxEntry() [1/3]

◆ getMaxEntry() [2/3]

◆ getMaxEntry() [3/3]

◆ getMaxSummedAngleReachablity()

◆ getMinBound()

◆ getNodeSet()

◆ getNumVoxels()

◆ getOOBB()

◆ getPoseFromVoxel() [1/3]

◆ getPoseFromVoxel() [2/3]

◆ getPoseFromVoxel() [3/3]

◆ getRobot()

◆ getTCP()

◆ getTcp()

◆ getToGlobalTransformation()

◆ getToLocalTransformation()

◆ getVoxelEntry()

◆ getVoxelFromPose() [1/2]

◆ getVoxelFromPose() [2/2]

◆ getVoxelFromPosition() [1/2]

◆ getVoxelFromPosition() [2/2]

◆ getVoxelSize()

◆ getWorkspaceExtends()

◆ hasEntry()

◆ initialize()

◆ invalidateBehindRobot()

◆ isCovered() [1/2]

◆ isCovered() [2/2]

◆ load()

◆ matrix2Vector()

◆ print()

◆ reset()

◆ sampleCoveredPose()

◆ save()