Spatial index over a collection of ellipsoids sharing a fixed scale tau. More...

#include <ellipsoid_tree/object_tree.hpp>

Inheritance diagram for ellipsoid_tree::EllipsoidTree:

Public Member Functions
	EllipsoidTree ()=default
	Empty tree (indexes no ellipsoids).

	EllipsoidTree (std::vector< Ellipsoid > ellipsoids, double tau, int num_threads=0)
	Index a family of ellipsoids at the shared scale tau, precomputing each Sigma^{-1} and building the tree over their tau-scaled bounding boxes.

int	size () const
	Number of indexed ellipsoids.

int	dim () const
	Spatial dimension of the indexed ellipsoids.

double	tau () const
	The shared ellipsoid scale tau fixed at construction (used for the leaf boxes).

const Ellipsoid &	object (int ii) const
	The ii-th indexed ellipsoid.

const std::vector< Ellipsoid > &	objects () const
	All indexed ellipsoids, in index order.

const AABBTree &	tree () const
	The underlying AABB tree over the elements' bounding boxes.

const Eigen::MatrixXd &	sigma_inverse (int ii) const
	The precomputed inverse Sigma^{-1} of the ii-th ellipsoid's covariance.

void	rebuild (double new_tau)
	Rebuild the leaf boxes (and tree) at a new scale; Sigma^{-1} is unchanged.

std::vector< int >	collisions (const Eigen::Ref< const Eigen::VectorXd > &p) const
	Indices of the ellipsoids (at the build tau) that contain the query point.

std::vector< int >	collisions (const Eigen::Ref< const Eigen::VectorXd > &p, double tau) const
	Indices of the ellipsoids at scale tau (at most the build tau) that contain the query point.

std::vector< int >	collisions (const Box &q) const
	Indices of the ellipsoids (at the build tau) intersecting the query box.

std::vector< int >	collisions (const Box &q, double tau) const
	Indices of the ellipsoids at scale tau (at most the build tau) intersecting the query box.

std::vector< int >	collisions (const Ball &q) const
	Indices of the ellipsoids (at the build tau) intersecting the query ball.

std::vector< int >	collisions (const Ball &q, double tau) const
	Indices of the ellipsoids at scale tau (at most the build tau) intersecting the query ball.

std::vector< int >	collisions (const Ellipsoid &q) const
	Indices of the ellipsoids (at the build tau) intersecting the query ellipsoid at that same scale.

std::vector< int >	collisions (const Ellipsoid &q, double tau) const
	Indices of the ellipsoids intersecting the query ellipsoid, both taken at scale tau (at most the build tau).

std::vector< int >	collisions (const Simplex &q) const
	Indices of the ellipsoids (at the build tau) intersecting the query simplex.

std::vector< int >	collisions (const Simplex &q, double tau) const
	Indices of the ellipsoids at scale tau (at most the build tau) intersecting the query simplex.

std::vector< int >	collisions (const Segment &q) const
	Indices of the ellipsoids (at the build tau) intersecting the query segment.

std::vector< int >	collisions (const Segment &q, double tau) const
	Indices of the ellipsoids at scale tau (at most the build tau) intersecting the query segment.

std::vector< int >	collisions (const Halfspace &q) const
	Indices of the ellipsoids (at the build tau) intersecting the query halfspace.

std::vector< int >	collisions (const Halfspace &q, double tau) const
	Indices of the ellipsoids at scale tau (at most the build tau) intersecting the query halfspace.

std::vector< std::pair< int, int > >	self_collision_pairs () const
	Every intersecting pair within the family of ellipsoids at the build tau (the overlap graph).

Public Attributes
bool	exact_ellipsoid_pruning = true
	Enable the exact ellipsoid-box test during node pruning (vs. bounding-box only).

Detailed Description

Spatial index over a collection of ellipsoids sharing a fixed scale tau.

Constructor & Destructor Documentation

◆ EllipsoidTree() [1/2]

ellipsoid_tree::EllipsoidTree::EllipsoidTree ( )

default

Empty tree (indexes no ellipsoids).

◆ EllipsoidTree() [2/2]

ellipsoid_tree::EllipsoidTree::EllipsoidTree	(	std::vector< Ellipsoid >	ellipsoids,
		double	tau,
		int	num_threads = `0`
	)

inline

Index a family of ellipsoids at the shared scale tau, precomputing each Sigma^{-1} and building the tree over their tau-scaled bounding boxes.

Member Function Documentation

◆ size()

int ellipsoid_tree::EllipsoidTree::size ( ) const

inline

Number of indexed ellipsoids.

◆ dim()

int ellipsoid_tree::EllipsoidTree::dim ( ) const

inline

Spatial dimension of the indexed ellipsoids.

◆ tau()

double ellipsoid_tree::EllipsoidTree::tau ( ) const

inline

The shared ellipsoid scale tau fixed at construction (used for the leaf boxes).

◆ object()

const Ellipsoid & ellipsoid_tree::EllipsoidTree::object ( int ii ) const

inline

The ii-th indexed ellipsoid.

◆ objects()

const std::vector< Ellipsoid > & ellipsoid_tree::EllipsoidTree::objects ( ) const

inline

All indexed ellipsoids, in index order.

◆ tree()

const AABBTree & ellipsoid_tree::EllipsoidTree::tree ( ) const

inline

The underlying AABB tree over the elements' bounding boxes.

◆ sigma_inverse()

const Eigen::MatrixXd & ellipsoid_tree::EllipsoidTree::sigma_inverse ( int ii ) const

inline

The precomputed inverse Sigma^{-1} of the ii-th ellipsoid's covariance.

◆ rebuild()

void ellipsoid_tree::EllipsoidTree::rebuild ( double new_tau )

inline

Rebuild the leaf boxes (and tree) at a new scale; Sigma^{-1} is unchanged.

◆ collisions() [1/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions ( const Eigen::Ref< const Eigen::VectorXd > & p ) const

inline

Indices of the ellipsoids (at the build tau) that contain the query point.

◆ collisions() [2/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions	(	const Eigen::Ref< const Eigen::VectorXd > &	p,
		double	tau
	)		const

inline

Indices of the ellipsoids at scale tau (at most the build tau) that contain the query point.

◆ collisions() [3/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions ( const Box & q ) const

inline

Indices of the ellipsoids (at the build tau) intersecting the query box.

◆ collisions() [4/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions	(	const Box &	q,
		double	tau
	)		const

inline

Indices of the ellipsoids at scale tau (at most the build tau) intersecting the query box.

◆ collisions() [5/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions ( const Ball & q ) const

inline

Indices of the ellipsoids (at the build tau) intersecting the query ball.

◆ collisions() [6/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions	(	const Ball &	q,
		double	tau
	)		const

inline

Indices of the ellipsoids at scale tau (at most the build tau) intersecting the query ball.

◆ collisions() [7/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions ( const Ellipsoid & q ) const

inline

Indices of the ellipsoids (at the build tau) intersecting the query ellipsoid at that same scale.

◆ collisions() [8/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions	(	const Ellipsoid &	q,
		double	tau
	)		const

inline

Indices of the ellipsoids intersecting the query ellipsoid, both taken at scale tau (at most the build tau).

◆ collisions() [9/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions ( const Simplex & q ) const

inline

Indices of the ellipsoids (at the build tau) intersecting the query simplex.

◆ collisions() [10/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions	(	const Simplex &	q,
		double	tau
	)		const

inline

Indices of the ellipsoids at scale tau (at most the build tau) intersecting the query simplex.

◆ collisions() [11/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions ( const Segment & q ) const

inline

Indices of the ellipsoids (at the build tau) intersecting the query segment.

◆ collisions() [12/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions	(	const Segment &	q,
		double	tau
	)		const

inline

Indices of the ellipsoids at scale tau (at most the build tau) intersecting the query segment.

◆ collisions() [13/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions ( const Halfspace & q ) const

inline

Indices of the ellipsoids (at the build tau) intersecting the query halfspace.

◆ collisions() [14/14]

std::vector< int > ellipsoid_tree::EllipsoidTree::collisions	(	const Halfspace &	q,
		double	tau
	)		const

inline

Indices of the ellipsoids at scale tau (at most the build tau) intersecting the query halfspace.

◆ self_collision_pairs()

std::vector< std::pair< int, int > > ellipsoid_tree::EllipsoidTree::self_collision_pairs ( ) const

inline

Every intersecting pair within the family of ellipsoids at the build tau (the overlap graph).

Member Data Documentation

◆ exact_ellipsoid_pruning

bool ellipsoid_tree::EllipsoidTree::exact_ellipsoid_pruning = true

Enable the exact ellipsoid-box test during node pruning (vs. bounding-box only).

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

ellipsoid_tree/object_tree.hpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EllipsoidTree() [1/2]

◆ EllipsoidTree() [2/2]

Member Function Documentation

◆ size()

◆ dim()

◆ tau()

◆ object()

◆ objects()

◆ tree()

◆ sigma_inverse()

◆ rebuild()

◆ collisions() [1/14]

◆ collisions() [2/14]

◆ collisions() [3/14]

◆ collisions() [4/14]

◆ collisions() [5/14]

◆ collisions() [6/14]

◆ collisions() [7/14]

◆ collisions() [8/14]

◆ collisions() [9/14]

◆ collisions() [10/14]

◆ collisions() [11/14]

◆ collisions() [12/14]

◆ collisions() [13/14]

◆ collisions() [14/14]

◆ self_collision_pairs()

Member Data Documentation

◆ exact_ellipsoid_pruning