ompl::ProlateHyperspheroid Class Reference
A class describing a prolate hyperspheroid, a special symmetric type of n-dimensional ellipse, for use in direct informed sampling for problems seeking to minimize path length. More...
#include <ompl/util/ProlateHyperspheroid.h>
Public Member Functions | |
ProlateHyperspheroid (unsigned int n, const double focus1[], const double focus2[]) | |
The description of an n-dimensional prolate hyperspheroid. | |
void | setTransverseDiameter (double transverseDiameter) |
Set the transverse diameter of the PHS. | |
void | transform (const double sphere[], double phs[]) const |
Transform a point from a sphere to PHS. The return variable phs is expected to already exist. | |
bool | isInPhs (const double point[]) const |
Check if the given point lies in the PHS. | |
bool | isOnPhs (const double point[]) const |
Check if the given point lies on the PHS. | |
unsigned int | getPhsDimension () const |
The dimension of the PHS. | |
double | getPhsMeasure () const |
The measure of the PHS. | |
double | getPhsMeasure (double tranDiam) const |
The measure of the PHS for a given transverse diameter. | |
double | getMinTransverseDiameter () const |
The minimum transverse diameter of the PHS, i.e., the distance between the foci. | |
double | getPathLength (const double point[]) const |
Calculate length of a line that originates from one focus, passes through the given point, and terminates at the other focus, i.e., the transverse diameter of the ellipse on which the given sample lies. | |
unsigned int | getDimension () const |
The state dimension of the PHS. | |
Detailed Description
A class describing a prolate hyperspheroid, a special symmetric type of n-dimensional ellipse, for use in direct informed sampling for problems seeking to minimize path length.
- J. D. Gammell, S. S. Srinivasa, T. D. Barfoot, "Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic." In Proceedings
- of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Chicago, IL, USA, 14-18 Sept. 2014. DOI: 10.1109/IROS.2014.6942976. Illustration video. Short description video.
Definition at line 66 of file ProlateHyperspheroid.h.
The documentation for this class was generated from the following files:
- ompl/util/ProlateHyperspheroid.h
- ompl/util/src/ProlateHyperspheroid.cpp