TAtlasRRTStatistics Struct Reference

Detailed Description

Data collected during the AtlasRRT construction so that this process can be analysed.

Statistics should only be used in debug/analysis mode. Otherwise it is better to skip collecting them (for efficiency reasons). See GET_ATLASRRT_STATISTICS

Note that this structure is not thread-save. Thus, we must only collect statistics when executing in single core mode.

Todo:

Switch to thread-save statistics before implementing a parallel version of the AtlasRRT.

Definition at line 109 of file atlasrrt.h.

Data Fields
unsigned int	n
unsigned int	nBranch
unsigned int	nNoEmptyBranch
unsigned int	nTreeConnection
unsigned int	nNoEmptyTreeConnection
unsigned int	nStep
double	dQrand
unsigned int	nQrandReached
unsigned int	nNotInDomain
unsigned int	nCollision
unsigned int	nTooLong
unsigned int	nTooFar
unsigned int	nOverlap
unsigned int	nErrorNewChart
unsigned int	nNoConvergent
unsigned int	nOutOfChart
unsigned int	nLargeCurvature
unsigned int	nDirLargeCurvature
unsigned int	nStepReduction
unsigned int	nSample
unsigned int	nChart
unsigned int	nNoConnect
unsigned int	nSingular
unsigned int	nRandom
unsigned int	nRejections
unsigned int	nCollisionChecks

Field Documentation

unsigned int TAtlasRRTStatistics::n

Number of statistics accumulated in the structure.

Definition at line 110 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nBranch

Number of branch extensions.

Definition at line 113 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTBranch(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nNoEmptyBranch

Number of non-empty branches.

Definition at line 114 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTNoEmptyBranch(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nTreeConnection

Number of attemps to connect the two trees.

Definition at line 116 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTTreeConnection(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nNoEmptyTreeConnection

Number of non-empty attemps of tree connection.

Definition at line 117 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTNoEmptyTreeConnection(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nStep

Number of steps in branch extension.

Definition at line 119 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTStep(), and PrintAtlasRRTStatistics().

double TAtlasRRTStatistics::dQrand

Accumulated distances from q_rand-tree.

Definition at line 120 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTDistanceQrand(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nQrandReached

Times we actually reached q_rand.

Definition at line 123 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTQrandReached(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nNotInDomain

Stopped when we move out of the domain.

Definition at line 124 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTNotInDomain(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nCollision

Stopped due to collisions.

Definition at line 125 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTCollision(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nTooLong

Stopped due to its length.

Definition at line 126 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTTooLong(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nTooFar

Stopped due ot a ball centered at q_near.

Definition at line 127 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTTooFar(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nOverlap

Stopped to avoid overlap with other branches.

Definition at line 128 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTOverlap(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nErrorNewChart

Errors when creating a chart.

Definition at line 131 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTInitChartError(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nNoConvergent

A non convergent projection.

Definition at line 132 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTNoConvergentStep(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nOutOfChart

Reached the extreme of the chart domain.

Definition at line 133 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTOutOfChart(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nLargeCurvature

A large curvature error between the charts.

Definition at line 134 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTLargeCurvature(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nDirLargeCurvature

Samples that produce large curvature in a given direction.

Definition at line 135 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTDirLargeCurvature(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nStepReduction

Times we had to reduce the default step size to create a new valid node.

Definition at line 139 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTStepReduction(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nSample

Total of samples in the atlasRRT.

Definition at line 142 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTSample(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nChart

Total of charts in the atlasRRT.

Definition at line 143 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTChart(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nNoConnect

Number of new charts that do not intersect with its parent

Definition at line 144 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTNoConnectToParent(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nSingular

Number of attempts to create a char in a singular region

Definition at line 146 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTBlockBySingularity(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nRandom

Number of times we generated a random sample

Definition at line 150 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTRandomSample(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nRejections

Number of rejected random samples

Definition at line 152 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTSampleRejection(), and PrintAtlasRRTStatistics().

unsigned int TAtlasRRTStatistics::nCollisionChecks

Number of collision checks

Definition at line 155 of file atlasrrt.h.

Referenced by AccumulateAtlasRRTStatistics(), InitAtlasRRTStatistics(), NewAtlasRRTCollisionCheck(), and PrintAtlasRRTStatistics().