Classes
class	DistanceCapsulePoint
	Distance to point RobOptim function. More...

class	Fitter
	Capsule fitter class. More...

struct	Capsule
	Structure containing Capsule data (start point, end point and. More...

class	Volume
	Capsule volume function. More...

Typedefs
typedef roboptim::Function::value_type	value_type
	Import types from roboptim Function. More...

typedef roboptim::Function::size_type	size_type

typedef roboptim::Function::argument_t	argument_t

typedef roboptim::Function::vector_t	vector_t

typedef roboptim::Function::matrix_t	matrix_t

typedef roboptim::Solver < roboptim::DifferentiableFunction, boost::mpl::vector < roboptim::LinearFunction, roboptim::DifferentiableFunction > >	solver_t
	Import solver type. More...

typedef Eigen::Matrix < value_type, 3, 1 >	point_t
	Define geometry types. More...

typedef Eigen::Matrix < value_type, 3, 1 >	vector3_t

typedef std::vector< point_t >	polyhedron_t

typedef std::vector< polyhedron_t >	polyhedrons_t

Functions
std::ostream &	operator<< (std::ostream &os, const Fitter &fitter)
	Print fitter after optimal capsule has been computed. More...

polyhedron_t	convexHullFromPoints (const std::vector< point_t > &points)
	Creates a convex hull from a set of points. More...

value_type	distancePointToSegment (const point_t &p, const point_t &a, const point_t &b)
	Compute the distance from point p to segment [a,b]. More...

point_t	projectionOnSegment (const point_t &p, const point_t &a, const point_t &b)
	Compute the project of point p on segment [a,b]. More...

value_type	distancePointToLine (const point_t &point, const point_t &linePoint, const vector3_t &dir)
	Distance from a point to a line described as a point and a. More...

Eigen::Matrix3d	covarianceMatrix (const std::vector< point_t > &points)
	Compute the covariance matrix of a set of points. More...

void	extremePointsAlongDirection (vector3_t dir, const std::vector< point_t > &points, int &imin, int &imax)

Capsule	capsuleFromPoints (const std::vector< point_t > &points)
	Computes a capsule from a set of points. More...

void	convertCapsuleToSolverParam (argument_t &dst, const point_t &endPoint1, const point_t &endPoint2, const value_type &radius)
	Convert Capsule parameters to RobOptim solver parameters vector. More...

void	convertSolverParamToCapsule (point_t &endPoint1, point_t &endPoint2, value_type &radius, const argument_t src)
	Convert RobOptim solver parameters vector to Capsule parameters. More...

void	convertPolyhedronVectorToPolyhedron (polyhedron_t &polyhedron, const polyhedrons_t &polyhedrons)
	Convert a polyhedron vector to a single polyhedron. More...

void	computeBoundingCapsulePolyhedron (const polyhedrons_t &polyhedrons, point_t &endPoint1, point_t &endPoint2, value_type &radius)
	Compute bounding capsule of a vector of polyhedrons. More...

void	computeConvexPolyhedron (const polyhedrons_t &polyhedrons, polyhedrons_t &convexPolyhedrons)
	Compute the convex polyhedron over a vector of polyhedrons. More...

Typedef Documentation

typedef roboptim::Function::argument_t roboptim::capsule::argument_t

typedef roboptim::Function::matrix_t roboptim::capsule::matrix_t

typedef Eigen::Matrix<value_type,3,1> roboptim::capsule::point_t

Define geometry types.

typedef std::vector<point_t> roboptim::capsule::polyhedron_t

typedef std::vector<polyhedron_t> roboptim::capsule::polyhedrons_t

typedef roboptim::Function::size_type roboptim::capsule::size_type

typedef roboptim::Solver< roboptim::DifferentiableFunction, boost::mpl::vector< roboptim::LinearFunction, roboptim::DifferentiableFunction> > roboptim::capsule::solver_t

Import solver type.

typedef roboptim::Function::value_type roboptim::capsule::value_type

Import types from roboptim Function.

typedef Eigen::Matrix<value_type,3,1> roboptim::capsule::vector3_t

typedef roboptim::Function::vector_t roboptim::capsule::vector_t

Function Documentation

Capsule roboptim::capsule::capsuleFromPoints ( const std::vector< point_t > & points )

Computes a capsule from a set of points.

The algorithm currently used relies on the search of the largest spread direction (PCA). TODO: Optimize computation speed. Spheres on both ends do not contain any point yet, cylinder length could be shortened to have a better fit.

References covarianceMatrix(), distancePointToLine(), extremePointsAlongDirection(), roboptim::capsule::Capsule::P0, roboptim::capsule::Capsule::P1, and roboptim::capsule::Capsule::radius.

Referenced by computeBoundingCapsulePolyhedron().

void roboptim::capsule::computeBoundingCapsulePolyhedron	(	const polyhedrons_t &	polyhedrons,
		point_t &	endPoint1,
		point_t &	endPoint2,
		value_type &	radius
	)

Compute bounding capsule of a vector of polyhedrons.

Compute axis of capsule segment using least-squares fit. Radius is maximum distance from points to axis. Hemispherical caps are chosen as close together as possible.

Parameters

polyhedrons vector of polyhedrons that contain the points

Returns: endPoint1 bounding capsule segment first end point; endPoint2 bounding capsule segment second end point; radius bounding capsule radius

References capsuleFromPoints(), roboptim::capsule::Capsule::P0, roboptim::capsule::Capsule::P1, and roboptim::capsule::Capsule::radius.

Referenced by main().

void roboptim::capsule::computeConvexPolyhedron	(	const polyhedrons_t &	polyhedrons,
		polyhedrons_t &	convexPolyhedrons
	)

Compute the convex polyhedron over a vector of polyhedrons.

Compute the polygon representing the convex hull of the union of all polyhedrons in a vector, and store it in a one-element vector.

Parameters

polyhedrons vector of polyhedrons that contain the points

Returns: convexPolyhedron vector of polyhedrons containing one element, i.e. the convex hull.

References convertPolyhedronVectorToPolyhedron(), and convexHullFromPoints().

Referenced by main().

void roboptim::capsule::convertCapsuleToSolverParam	(	argument_t &	dst,
		const point_t &	endPoint1,
		const point_t &	endPoint2,
		const value_type &	radius
	)

Convert Capsule parameters to RobOptim solver parameters vector.

Parameters

endPoint1	capsule axis first end point
endPoint2	capsule axis second end point
radius	capsule radius

Returns: dst parameters vector containing, in this order, the capsule axis first end point coordinates, the capsule axis second end point coordinates and the radius.

Referenced by main().

void roboptim::capsule::convertPolyhedronVectorToPolyhedron	(	polyhedron_t &	polyhedron,
		const polyhedrons_t &	polyhedrons
	)

Convert a polyhedron vector to a single polyhedron.

Result polyhedron is the union of all polyhedrons.

Parameters

polyhedrons polyhedron vector containing all polyhedrons.

Returns: polyhedron union polyhedron

Referenced by computeConvexPolyhedron().

void roboptim::capsule::convertSolverParamToCapsule	(	point_t &	endPoint1,
		point_t &	endPoint2,
		value_type &	radius,
		const argument_t	src
	)

Convert RobOptim solver parameters vector to Capsule parameters.

Parameters

src	parameters vector containing, in this order, the capsule axis first end point coordinates, the capsule axis second end point coordinates and the radius.

Returns: endPoint1 capsule axis first end point; endPoint2 capsule axis second end point; radius capsule radius

polyhedron_t roboptim::capsule::convexHullFromPoints ( const std::vector< point_t > & points )

Creates a convex hull from a set of points.

HAVE_QHULL

Referenced by computeConvexPolyhedron().

Eigen::Matrix3d roboptim::capsule::covarianceMatrix ( const std::vector< point_t > & points )

Compute the covariance matrix of a set of points.

Referenced by capsuleFromPoints().

value_type roboptim::capsule::distancePointToLine	(	const point_t &	point,
		const point_t &	linePoint,
		const vector3_t &	dir
	)

Distance from a point to a line described as a point and a.

Referenced by capsuleFromPoints().

value_type roboptim::capsule::distancePointToSegment	(	const point_t &	p,
		const point_t &	a,
		const point_t &	b
	)

Compute the distance from point p to segment [a,b].

Parameters

p	point.
a	start point of segment.
b	end point of segment.

Returns: distance from p to the segment.

References projectionOnSegment().

Referenced by roboptim::capsule::DistanceCapsulePoint::impl_compute().

void roboptim::capsule::extremePointsAlongDirection	(	vector3_t	dir,
		const std::vector< point_t > &	points,
		int &	imin,
		int &	imax
	)

Referenced by capsuleFromPoints().

std::ostream& roboptim::capsule::operator<<	(	std::ostream &	os,
		const Fitter &	fitter
	)

inline

Print fitter after optimal capsule has been computed.

Initial parameters and volume are printed, then solution parameters and volume are printed.

References roboptim::capsule::Fitter::initParam(), roboptim::capsule::Fitter::initVolume(), roboptim::capsule::Fitter::solutionParam(), and roboptim::capsule::Fitter::solutionVolume().

point_t roboptim::capsule::projectionOnSegment	(	const point_t &	p,
		const point_t &	a,
		const point_t &	b
	)

Compute the project of point p on segment [a,b].

Parameters

p	point.
a	start point of segment.
b	end point of segment.

Returns: projection of p on [a,b].

Referenced by distancePointToSegment(), and roboptim::capsule::DistanceCapsulePoint::impl_gradient().

Classes

Typedefs

Functions

Typedef Documentation

Function Documentation