class mpkTransformCache

Class for caching spatial transforms. This class is used by mpkAdaptSegmentChecker to avoid redundant computations of transforms while checking a segment for collisions. Each segment checker maintains its own cache.

Public Methods

[more] mpkTransformCache (int initsz=1)
[more] ~mpkTransformCache ()
[more]void clear ()
[more]bool insert (const mpkTransform& T, unsigned i, unsigned j, unsigned k)
[more]bool load (mpkTransform& T, unsigned i, unsigned j, unsigned k)


Documentation

Each cached transform is indexed by a triple of values: the robot reference (i), the joint reference (j) and the position on the segment for which the transform is stored (k). For the latter, this means that the segment is discretized. In practice, discretization by a variable of type unsigned should be sufficient.
o mpkTransformCache(int initsz=1)

o ~mpkTransformCache()

ovoid clear()

obool insert(const mpkTransform& T, unsigned i, unsigned j, unsigned k)
Inserts a new transform into the cache. See above for a description of the index triple (i,j,k).

obool load(mpkTransform& T, unsigned i, unsigned j, unsigned k)
Tries to retrieve a transform from the cache. See above for a description of the index triple (i,j,k). Returns false if the transform is not in the cache, and true otherwise.


This class has no child classes.

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