Modeling

Files
file	RandomizedSelfCollisions.h
	Helper functions for computing potentially colliding pairs of links using random sampling.

Classes
class	GeneralizedRobot
	A collection of robots and objects that can be treated like one "big robot". More...
class	ManagedGeometry
	A "smart" geometry loading class that caches previous geometries, and does not re-load or re-initialize existing collision detection data structures if the item has already been loaded. More...
class	MultiPath
	A very general multi-section path container. More...
class	LinearPath
	A piecewise linear path. More...
class	ConfigsResource
	Resource for multiple Config's. More...
class	TriMeshResource
	Resource for a TriMesh. Needs to be overloaded to load from alternate mesh formats (meshing/IO.h). More...
class	PointCloudResource
	Resource for a PointCloud3D. More...
class	RobotResource
	Resource for a Robot. More...
class	RigidObjectResource
	Resource for a RigidObject. More...
class	WorldResource
	Resource for a RobotWorld. More...
class	LinearPathResource
	Resource for a LinearPath. More...
class	MultiPathResource
	Resource for a MultiPath. More...
class	IKGoalResource
	Resource for an IKGoal. More...
class	HoldResource
	Resource for a Hold. More...
class	StanceResource
	Resource for a Stance. More...
class	GraspResource
	Resource for a Grasp. More...
class	RigidObject
	A (static) rigid object that may be manipulated. More...
struct	RobotJoint
	Additional joint properties. More...
struct	RobotJointDriver
	Determines the effects of an actuator on the robot configuration. More...
class	Robot
	The main robot type used in RobotSim. More...
class	Terrain
	A model of a static terrain with known friction. More...
class	RobotWorld
	The main world class containing multiple robots, objects, and static geometries (terrains). Lights and other viewport information may also be stored here. More...

Functions
void	Interpolate (Robot &robot, const Config &x, const Config &y, Real u, Config &out)
	Interpolates between the two configurations in geodesic fashion on the robot's underlying configuration space.
void	InterpolateDerivative (Robot &robot, const Config &a, const Config &b, Vector &dq)
	Returns the velocity vector at a that will move the robot from a to b in minimal time (i.e., derivative of the geodesic).
void	InterpolateDerivative (Robot &robot, const Config &a, const Config &b, Real u, Vector &dq)
	Returns the velocity vector that will move the robot from the configuration that is u fraction of the way from a to b to b in minimal time.
void	Integrate (Robot &robot, const Config &q, const Vector &dq, Config &b)
	Integrates a velocity vector dq from q to obtain the configuration b.
Real	Distance (const Robot &robot, const Config &a, const Config &b, Real norm, Real floatingRotationWeight=1.0)
	Returns the geodesic distance between a and b. Combines individual joint distances together via the L-k norm, where k = #norm. More...
Real	Distance (const Robot &robot, const Config &a, const Config &b, Real norm, const vector< Real > &weights, Real floatingRotationWeight=1.0)
	Returns the geodesic distance between a and b. Combines individual joint distances together via the weighted L-k norm, where k = #norm. More...
Vector3	CenterOfMass (const Meshing::TriMesh &mesh)
Vector3	CenterOfMass (const Meshing::PointCloud3D &pc)
	Computes the first moment integrated over the point cloud.
Vector3	CenterOfMass (const Meshing::VolumeGrid &grid)
Vector3	CenterOfMass (const Geometry::AnyGeometry3D &geom)
	Computes the first moment integrated over the geometry.
Matrix3	Covariance (const Meshing::TriMesh &mesh, const Vector3 &center)
	Computes the second moment integrated over the geometry.
Matrix3	Covariance (const Meshing::PointCloud3D &pc, const Vector3 &center)
Matrix3	Covariance (const Meshing::VolumeGrid &vol, const Vector3 &center)
Matrix3	Covariance (const Geometry::AnyGeometry3D &geom, const Vector3 &center)
Matrix3	Covariance (const Meshing::TriMesh &mesh)
Matrix3	Covariance (const Meshing::PointCloud3D &mesh)
Matrix3	Covariance (const Meshing::VolumeGrid &mesh)
Matrix3	Covariance (const Geometry::AnyGeometry3D &mesh)
Matrix3	Inertia (const Meshing::TriMesh &mesh, const Vector3 &center, Real mass)
	Computes the inertia tensor by integrating over the mesh.
Matrix3	Inertia (const Meshing::PointCloud3D &mesh, const Vector3 &center, Real mass)
Matrix3	Inertia (const Meshing::VolumeGrid &mesh, const Vector3 &center, Real mass)
Matrix3	Inertia (const Geometry::AnyGeometry3D &mesh, const Vector3 &center, Real mass)
Matrix3	Inertia (const Meshing::TriMesh &mesh, Real mass)
Matrix3	Inertia (const Meshing::PointCloud3D &mesh, Real mass)
Matrix3	Inertia (const Meshing::VolumeGrid &mesh, Real mass)
Matrix3	Inertia (const Geometry::AnyGeometry3D &mesh, Real mass)
Vector3	CenterOfMass_Solid (const Meshing::TriMesh &mesh, Real gridRes)
Matrix3	Covariance_Solid (const Meshing::TriMesh &mesh, Real gridRes, const Vector3 &center)
Matrix3	Covariance_Solid (const Meshing::TriMesh &mesh, Real gridRes)
Matrix3	Inertia_Solid (const Meshing::TriMesh &mesh, Real gridRes, const Vector3 &center, Real mass)
Matrix3	Inertia_Solid (const Meshing::TriMesh &mesh, Real gridRes, Real mass)
void	Convert (const LinearPath &in, MultiPath &out)
	Exact, direct conversion from LinearPath to MultiPath.
void	Convert (const LinearPath &in, ParabolicRamp::DynamicPath &out)
void	Convert (const LinearPath &in, Spline::PiecewisePolynomialND &out)
void	Convert (const MultiPath &in, LinearPath &out)
void	Convert (const MultiPath &in, ParabolicRamp::DynamicPath &out)
void	Convert (const MultiPath &in, Spline::PiecewisePolynomialND &out)
void	Convert (const ParabolicRamp::DynamicPath &in, MultiPath &out)
	Exact, direct conversion from DynamicPath to MultiPath.
void	Convert (const ParabolicRamp::DynamicPath &in, Spline::PiecewisePolynomialND &out)
	Exact, direct conversion from DynamicPath to PiecewisePolynomial.
void	Convert (const Spline::PiecewisePolynomialND &in, MultiPath &out)
void	Keyframes (const LinearPath &in, vector< Config > &milestones)
	Extract keyframes from the path representation.
void	Keyframes (const LinearPath &in, vector< Real > &times, vector< Config > &milestones)
void	Keyframes (const LinearPath &in, vector< Real > &times, vector< Config > &milestones, vector< Config > &dmilestones)
	Extracts keyframes + tangent vectors. Will construct tangent vectors by smoothing.
void	Keyframes (Robot &robot, const LinearPath &in, vector< Real > &times, vector< Config > &milestones, vector< Config > &dmilestones)
void	Keyframes (const MultiPath &in, vector< Config > &milestones)
void	Keyframes (const MultiPath &in, vector< Real > &times, vector< Config > &milestones)
void	Keyframes (const MultiPath &in, vector< Real > &times, vector< Config > &milestones, vector< Config > &dmilestones)
void	Keyframes (Robot &robot, const MultiPath &in, vector< Real > &times, vector< Config > &milestones, vector< Config > &dmilestones)
void	Keyframes (const ParabolicRamp::DynamicPath &in, vector< Config > &milestones)
void	Keyframes (const ParabolicRamp::DynamicPath &in, vector< Real > &times, vector< Config > &milestones)
void	Keyframes (const ParabolicRamp::DynamicPath &in, vector< Real > &times, vector< Config > &milestones, vector< Config > &dmilestones)
void	Keyframes (const Spline::PiecewisePolynomialND &in, vector< Config > &milestones)
void	Keyframes (const Spline::PiecewisePolynomialND &in, vector< Real > &times, vector< Config > &milestones)
void	Keyframes (const Spline::PiecewisePolynomialND &in, vector< Real > &times, vector< Config > &milestones, vector< Config > &dmilestones)
void	Interpolate (const vector< Real > &times, const vector< Config > &milestones, LinearPath &out)
	Create a representation that matches the input keyframes.
void	Interpolate (const vector< Real > &times, const vector< Config > &milestones, MultiPath &out)
	Create a representation that matches the input keyframes.
void	Interpolate (const vector< Real > &times, const vector< Config > &milestones, Spline::PiecewisePolynomialND &out)
void	Interpolate (const vector< Real > &times, const vector< Config > &milestones, ParabolicRamp::DynamicPath &out)
void	Interpolate (const vector< Real > &times, const vector< Config > &milestones, const vector< Vector > &dmilestones, MultiPath &out)
	Create a representation that matches the input keyframes.
void	Interpolate (const vector< Real > &times, const vector< Config > &milestones, const vector< Vector > &dmilestones, Spline::PiecewisePolynomialND &out)
	Create a representation that matches the input keyframes.
void	Interpolate (const vector< Real > &times, const vector< Config > &milestones, const vector< Vector > &dmilestones, ParabolicRamp::DynamicPath &out)
	Create a representation that matches the input keyframes.
template<class T >
void	Interpolate (const LinearPath &in, T &out)
	Create a representation that matches the keyframes of the input path.
void	Interpolate (const MultiPath &in, ParabolicRamp::DynamicPath &out)
void	Interpolate (const MultiPath &in, Spline::PiecewisePolynomialND &out)
void	Interpolate (const ParabolicRamp::DynamicPath &in, MultiPath &out)
	Create a representation that matches the keyframes of the input path.
template<class T >
void	Smooth (const LinearPath &in, T &out)
template<class T >
void	Smooth (const MultiPath &in, ParabolicRamp::DynamicPath &out)
template<class T >
void	Smooth (Robot &robot, const LinearPath &in, T &out)
template<class T >
void	Smooth (Robot &robot, const MultiPath &in, ParabolicRamp::DynamicPath &out)
void	Discretize (const LinearPath &in, Real res, vector< Real > &times, vector< Config > &milestones)
	Split up the path into keyframes at a given resolution.
void	Discretize (const MultiPath &in, Real res, vector< Real > &times, vector< Config > &milestones)
void	Discretize (const ParabolicRamp::DynamicPath &in, Real res, vector< Real > &times, vector< Config > &milestones)
void	Discretize (const Spline::PiecewisePolynomialND &in, Real res, vector< Real > &times, vector< Config > &milestones)
void	Discretize (const LinearPath &in, Real res, vector< Real > &times, vector< Config > &milestones, vector< Vector > &dmilestones)
	Split up the path into keyframes and velocities at a given resolution.
void	Discretize (const MultiPath &in, Real res, vector< Real > &times, vector< Config > &milestones, vector< Vector > &dmilestones)
void	Discretize (const ParabolicRamp::DynamicPath &in, Real res, vector< Real > &times, vector< Config > &milestones, vector< Vector > &dmilestones)
void	Discretize (const Spline::PiecewisePolynomialND &in, Real res, vector< Real > &times, vector< Config > &milestones, vector< Vector > &dmilestones)
void	Discretize (Robot &robot, const LinearPath &in, Real res, vector< Real > &times, vector< Config > &milestones)
void	Discretize (Robot &robot, const LinearPath &in, Real res, vector< Real > &times, vector< Config > &milestones, vector< Vector > &dmilestones)
template<class T1 , class T2 >
void	Approximate (const T1 &in, Real res, T2 &out)
template<class T1 >
void	Approximate (const T1 &in, Real res, LinearPath &out)
void	RandomizedSelfCollisionPairs (RobotWithGeometry &robot, Array2D< bool > &collision, int numSamples)
	Calculates a bit-matrix of potential collision pairs using random sampling. More...
void	RandomizedIndependentSelfCollisionPairs (RobotWithGeometry &robot, Array2D< bool > &collision, int numSamples)
	Calculates the bit-matrix of potential independent collision pairs. More...
void	RandomizedSelfCollisionDistances (RobotWithGeometry &robot, Array2D< Real > &minDistance, Array2D< Real > &maxDistance, int numSamples)
	Calculates the min/max distance matrix of collision pairs. More...
void	MakeRobotResourceLibrary (ResourceLibrary &library)
	Initializes a ResourceLibrary so that it accepts standard RobotSim file types.
ResourcePtr	MakeResource (const string &name, const vector< int > &vals)
ResourcePtr	MakeResource (const string &name, const vector< double > &vals)
ResourcePtr	MakeResource (const string &name, const Config &q)
ResourcePtr	MakeResource (const string &name, const vector< Config > &qs)
ResourcePtr	MakeResource (const string &name, const vector< Real > &ts, const vector< Config > &qs)
ResourcePtr	MakeResource (const string &name, const MultiPath &path)
ResourcePtr	MakeResource (const string &name, const Vector3 &pt)
ResourcePtr	MakeResource (const string &name, const Matrix3 &R)
ResourcePtr	MakeResource (const string &name, const RigidTransform &T)
ResourcePtr	MakeResource (const string &name, const GeometricPrimitive3D &geom)
ResourcePtr	MakeResource (const string &name, const Meshing::TriMesh &mesh)
ResourcePtr	MakeResource (const string &name, const Geometry::AnyGeometry3D &geom)
ResourcePtr	MakeResource (const string &name, const IKGoal &goal)
ResourcePtr	MakeResource (const string &name, const Hold &hold)
ResourcePtr	MakeResource (const string &name, const Stance &stance)
ResourcePtr	MakeResource (const string &name, const Grasp &grasp)
bool	CanCastResource (const ResourcePtr &item, const char *type)
	Returns true if CastResource can cast to the given type.
vector< string >	CastResourceTypes (const ResourcePtr &item)
	Returns the list of types which the item is castable to.
ResourcePtr	CastResource (ResourcePtr &item, const char *type)
	Convert a resource to a given type.
vector< string >	ExtractResourceTypes (const ResourcePtr &item)
	Returns the list of types that can be extracted from the item.
vector< ResourcePtr >	ExtractResources (ResourcePtr &item, const char *type)
	Extract all sub-resources of a given type.
ResourcePtr	PackResources (vector< ResourcePtr > &resources, ResourcePtr rtemplate, string *errorMessage=NULL)
ResourcePtr	PackResources (ResourceLibrary &resources, const string &type, string *errorMessage=NULL)
	Creates an object of the given type out of the given resources.
vector< ResourcePtr >	UnpackResource (ResourcePtr r, bool *successful=NULL, bool *incomplete=NULL)
void	SplineInterpolate (const vector< Vector > &pts, vector< GeneralizedCubicBezierCurve > &paths, CSpace *space=NULL, GeodesicSpace *manifold=NULL)
void	SplineInterpolate (const vector< Vector > &pts, GeneralizedCubicBezierSpline &path, CSpace *space=NULL, GeodesicSpace *manifold=NULL, Real coxDeBoorParameter=0)
void	SplineInterpolate (const vector< Vector > &pts, const vector< Real > &times, vector< GeneralizedCubicBezierCurve > &paths, CSpace *space=NULL, GeodesicSpace *manifold=NULL)
	Interpolates the given points at the given times.
void	SplineInterpolate (const vector< Vector > &pts, const vector< Real > &times, GeneralizedCubicBezierSpline &path, CSpace *space=NULL, GeodesicSpace *manifold=NULL)
	Same as above but outputs a spline, sets the path's durations.
void	MonotonicInterpolate (const vector< Vector > &pts, vector< GeneralizedCubicBezierCurve > &paths, CSpace *space=NULL, GeodesicSpace *manifold=NULL)
void	MonotonicInterpolate (const vector< Vector > &pts, GeneralizedCubicBezierSpline &path, CSpace *space=NULL, GeodesicSpace *manifold=NULL, Real coxDeBoorParameter=0)
void	MonotonicInterpolate (const vector< Vector > &pts, const vector< Real > &times, vector< GeneralizedCubicBezierCurve > &paths, CSpace *space=NULL, GeodesicSpace *manifold=NULL)
	Same as above but with times.
void	MonotonicInterpolate (const vector< Vector > &pts, const vector< Real > &times, GeneralizedCubicBezierSpline &path, CSpace *space=NULL, GeodesicSpace *manifold=NULL)
	Same as above but outputs a spline, sets the path's durations.
void	MonotonicAccelInterpolate (const vector< Vector > &pts, vector< GeneralizedCubicBezierCurve > &paths, CSpace *space=NULL, GeodesicSpace *manifold=NULL)
void	CopyWorld (const RobotWorld &a, RobotWorld &b)
	Performs a shallow copy of a RobotWorld. Since it does not copy geometry, this operation is very fast.

Detailed Description

Function Documentation

template<class T1 , class T2 >

void Approximate	(	const T1 &	in,
		Real	res,
		T2 &	out
	)

Create a representation that matches the input path at keyframes derived from the path at a given resolution

References Discretize(), and Interpolate().

template<class T1 >

void Approximate	(	const T1 &	in,
		Real	res,
		LinearPath &	out
	)

Create a representation that matches the input path at keyframes derived from the path at a given resolution

References Discretize(), and Interpolate().

Vector3 CenterOfMass

(

const Meshing::TriMesh &

mesh

)

Computes the first moment integrated over the mesh (assuming the mesh is a hollow shell)

Vector3 CenterOfMass

(

const Meshing::VolumeGrid &

grid

)

Computes the first moment integrated over the volume grid (assuming < 0 is the interior)

Vector3 CenterOfMass_Solid	(	const Meshing::TriMesh &	mesh,
		Real	gridRes
	)

Computes the first moment integrated over the solid inside the mesh using a grid approximation

void Convert	(	const LinearPath &	in,
		ParabolicRamp::DynamicPath &	out
	)

Exact, direct conversion from LinearPath to DynamicPath. Warning: discontinuous derivatives. Use Smooth to get a smooth path.

void Convert	(	const LinearPath &	in,
		Spline::PiecewisePolynomialND &	out
	)

Exact, direct conversion from LinearPath to PiecewisePolynomial. Warning: discontinuous derivatives. Use Smooth to get a smooth path.

void Convert	(	const MultiPath &	in,
		LinearPath &	out
	)

Exact, direct conversion from MultiPath to LinearPath. Input path must not have velocities.

void Convert	(	const MultiPath &	in,
		ParabolicRamp::DynamicPath &	out
	)

Exact, direct conversion from MultiPath to DynamicPath Warning: may have discontinuous derivatives if velocities not given. Use Smooth to get a smooth path.

void Convert	(	const MultiPath &	in,
		Spline::PiecewisePolynomialND &	out
	)

Exact, direct conversion from MultiPath to PiecewisePolynomial. Warning: may have discontinuous derivatives if velocities not given. Use Smooth to get a smooth path.

void Convert	(	const Spline::PiecewisePolynomialND &	in,
		MultiPath &	out
	)

Exact, direct conversion from PiecewisePolynomial to DynamicPath. Input path polynomials must have degree at most 2. Exact, direct conversion from PiecewisePolynomial to DynamicPath. Input path polynomials must have degree at most 3.

Matrix3 Covariance_Solid	(	const Meshing::TriMesh &	mesh,
		Real	gridRes,
		const Vector3 &	center
	)

Computes the first moment integrated over the solid inside the mesh using a grid approximation

void Discretize	(	Robot &	robot,
		const LinearPath &	in,
		Real	res,
		vector< Real > &	times,
		vector< Config > &	milestones
	)

Split up the path into keyframes and velocities at a given resolution using the robot interpolation function

Real Distance	(	const Robot &	robot,
		const Config &	a,
		const Config &	b,
		Real	norm,
		Real	floatingRotationWeight = 1.0
	)

Returns the geodesic distance between a and b. Combines individual joint distances together via the L-k norm, where k = #norm.

For floating joints, the rotation error is multiplied by floatingRotationWeight

Real Distance	(	const Robot &	robot,
		const Config &	a,
		const Config &	b,
		Real	norm,
		const vector< Real > &	weights,
		Real	floatingRotationWeight = 1.0
	)

Returns the geodesic distance between a and b. Combines individual joint distances together via the weighted L-k norm, where k = #norm.

For floating joints, the rotation error is multiplied by floatingRotationWeight

Matrix3 Inertia_Solid	(	const Meshing::TriMesh &	mesh,
		Real	gridRes,
		const Vector3 &	center,
		Real	mass
	)

Computes the inertia integrated over the solid inside the mesh using a grid approximation

void Interpolate	(	const vector< Real > &	times,
		const vector< Config > &	milestones,
		Spline::PiecewisePolynomialND &	out
	)

Create a representation that matches the input keyframes. The path will be smooth and stop at each milestone with zero velocity.

void Interpolate	(	const vector< Real > &	times,
		const vector< Config > &	milestones,
		ParabolicRamp::DynamicPath &	out
	)

Create a representation that matches the input keyframes. The path will be smooth and will stop at each milestone with zero velocity.

void Interpolate	(	const MultiPath &	in,
		ParabolicRamp::DynamicPath &	out
	)

Create a representation that matches the keyframes of the input path. The path will be smooth and if the input path has no velocities, the output will stop at each milestone with zero velocity

void Interpolate	(	const MultiPath &	in,
		Spline::PiecewisePolynomialND &	out
	)

Create a representation that matches the keyframes of the input path. The path will be smooth and if the input path has no velocities, the output will stop at each milestone with zero velocity

void MonotonicInterpolate	(	const vector< Vector > &	pts,
		vector< GeneralizedCubicBezierCurve > &	paths,
		CSpace *	space = NULL,
		GeodesicSpace *	manifold = NULL
	)

Interpolates ensuring that each intermediate segment is monotonically increasing / decreasing (potentially less oscillation). The resulting path segments are C1 continuous when connected via a uniform parameterization.

void MonotonicInterpolate	(	const vector< Vector > &	pts,
		GeneralizedCubicBezierSpline &	path,
		CSpace *	space = NULL,
		GeodesicSpace *	manifold = NULL,
		Real	coxDeBoorParameter = 0
	)

Interpolates the given points using monotonic interpolation, returning a timed path. If coxDeBoorParameter = 0, then a uniform parameterization is used. If 1, then the distance between points is used to define the parametrization (chordal parameterization). If 0.5, the centripetal parametrization is/ used, which has some advantages.

ResourcePtr PackResources	(	vector< ResourcePtr > &	resources,
		ResourcePtr	rtemplate,
		string *	errorMessage = NULL
	)

Creates an object of the same type as the template out of the given resources

void RandomizedIndependentSelfCollisionPairs	(	RobotWithGeometry &	robot,
		Array2D< bool > &	collision,
		int	numSamples
	)

Calculates the bit-matrix of potential independent collision pairs.

Sets collision(i,j) = true iff a collision between link i and j has been detected within numSamples samples. And independent means they have been detected to occur independently of any other pair.

void RandomizedSelfCollisionDistances	(	RobotWithGeometry &	robot,
		Array2D< Real > &	minDistance,
		Array2D< Real > &	maxDistance,
		int	numSamples
	)

Calculates the min/max distance matrix of collision pairs.

Sets min/maxDistance(i,j) to the min/max distance between bodies i and j within numSamples samples.

void RandomizedSelfCollisionPairs	(	RobotWithGeometry &	robot,
		Array2D< bool > &	collision,
		int	numSamples
	)

Calculates a bit-matrix of potential collision pairs using random sampling.

Sets collision(i,j) = true iff a collision between link i and j has been detected within numSamples samples.

template<class T >

void Smooth	(	const LinearPath &	in,
		T &	out
	)

Create a representation that matches the input path at its given keyframes and imputed tangent vectors.

References Discretize(), Interpolate(), and Keyframes().

void SplineInterpolate	(	const vector< Vector > &	pts,
		vector< GeneralizedCubicBezierCurve > &	paths,
		CSpace *	space = NULL,
		GeodesicSpace *	manifold = NULL
	)

Interpolates the given points. The resulting path segments are C1 continuous when connected via a uniform parameterization.

void SplineInterpolate	(	const vector< Vector > &	pts,
		GeneralizedCubicBezierSpline &	path,
		CSpace *	space = NULL,
		GeodesicSpace *	manifold = NULL,
		Real	coxDeBoorParameter = 0
	)

Interpolates the given points and returns a timed path. If coxDeBoorParameter = 0, then a uniform parameterization is used. If 1, then the distance between points is used to define the parametrization (chordal parameterization). If 0.5, the centripetal parametrization is used, which has some advantages.

vector<ResourcePtr> UnpackResource	(	ResourcePtr	r,
		bool *	successful = NULL,
		bool *	incomplete = NULL
	)

Creates sub-objects from the given resource. If the decomposition succeeded, the flag successful is set to true. If the decomposition is incomplete, the flag incomplete is set to true. Here "incomplete" means that calling Pack on the return array will NOT produce a copy of r.