#include <tvm/robot/ConvexHull.h>

Inheritance diagram for tvm::robot::ConvexHull:

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Collaboration diagram for tvm::robot::ConvexHull:

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Public Member Functions
	ConvexHull (std::shared_ptr< sch::S_Object > o, FramePtr f, const sva::PTransformd &X_f_o)

	ConvexHull (const std::string &path, FramePtr f, const sva::PTransformd &X_f_o)

sch::CD_Pair	makePair (const ConvexHull &hull) const

const Frame &	frame () const

Frame &	frame ()

Public Member Functions inherited from tvm::graph::internal::AbstractNode
template<typename EnumT >
bool	isUpdateEnabled (EnumT e) const

virtual bool	isUpdateStaticallyEnabled (int) const

virtual bool	isUpdateCustomEnabled (int) const

virtual	~AbstractNode ()=default

void	update (int i)

Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default

template<typename T , typename EnumI , typename... Args>
void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

template<typename T , typename EnumI , typename... Args, typename std::enable_if< std::is_base_of< abstract::Outputs, T >::value, int >::type = 0>
void	addInput (T &source, EnumI i, Args... args)

template<typename T >
void	removeInput (T *source)

template<typename T , typename... Args>
void	removeInput (T *source, Args... args)

template<typename T >
Iterator	getInput (T *source)

template<typename T >
Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

template<typename EnumT >
bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

virtual bool	isOutputCustomEnabled (int) const

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum class	Update_

using	UpdateParent = AbstractNode

using	UpdateBase = AbstractNode

Public Types inherited from tvm::graph::internal::Inputs
using	inputs_t = std::unordered_map< abstract::Outputs *, std::set< int > >

using	store_t = std::unordered_set< std::shared_ptr< abstract::Outputs > >

Public Types inherited from tvm::graph::abstract::Outputs
enum class	Output_

using	OutputParent = Outputs

using	OutputBase = Outputs

Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

template<typename EnumT >
static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

template<typename EnumT >
static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize = 0

static constexpr auto	UpdateBaseName = "AbstractNode"

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize = 0

static constexpr auto	OutputBaseName = "Outputs"

Protected Types inherited from tvm::graph::internal::AbstractNode
using	input_dependency_t = std::map< Outputs *, std::set< int > >

Protected Member Functions inherited from tvm::graph::abstract::Node< ConvexHull >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)

void	registerUpdates (EnumT u, void(U::*fn)())

void	addOutputDependency (EnumO o, EnumU u)

void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)

void	addInternalDependency (EnumU1 uDependent, EnumU2 u)

void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)

void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)

void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)

void	addDirectDependency (EnumO o, S &source, EnumI i)

Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_

std::map< int, std::vector< int > >	outputDependencies_

std::map< int, std::vector< int > >	internalDependencies_

std::map< int, input_dependency_t >	inputDependencies_

std::map< int, std::pair< Outputs *, int > >	directDependencies_

Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_ = false

Detailed Description

Represent a convex hull attached to a frame

Outputs:

Position: keep the convex hull position up-to-date

Constructor & Destructor Documentation

◆ ConvexHull() [1/2]

tvm::robot::ConvexHull::ConvexHull	(	std::shared_ptr< sch::S_Object >	o,
		FramePtr	f,
		const sva::PTransformd &	X_f_o
	)

Constructor with a given S_Object instance

Parameters

o	sch-core object representing the convex hull
f	frame to which the object is attached
X_f_o	`o` position will be set at each iteration to \( {}^{o}X_{f} f.position() \)

◆ ConvexHull() [2/2]

tvm::robot::ConvexHull::ConvexHull	(	const std::string &	path,
		FramePtr	f,
		const sva::PTransformd &	X_f_o
	)

Constructor with the path to the convex hull

This assumes you are loading an sch::S_Polyhedron object.

Parameters

path	path to the sch-object
f	frame to which the object is attached
X_f_o	`o` position will be set at each iteration to \( {}^{o}X_{f} f.position() \)

Member Function Documentation

◆ frame() [1/2]

Frame& tvm::robot::ConvexHull::frame ( )

Access the underlying frame

◆ frame() [2/2]

const Frame& tvm::robot::ConvexHull::frame ( ) const

Access the underlying frame (const)

◆ makePair()

sch::CD_Pair tvm::robot::ConvexHull::makePair ( const ConvexHull & hull ) const

Make a sch::CD_Pair from a second ConvexHull

The documentation for this class was generated from the following file:

include/tvm/robot/ConvexHull.h

Public Member Functions

Additional Inherited Members