PL_PrmIjg Class Reference

#include <planners/prm/PL_PrmIjg.h>

Inherits PL_Boolean_Output, and PL_OpenGL.

Inheritance diagram for PL_PrmIjg:

[legend]Collaboration diagram for PL_PrmIjg:

[legend]List of all members.

Public Member Functions
	PL_PrmIjg ()
virtual	~PL_PrmIjg ()
virtual bool	DrawExplicit () const
virtual void	DrawUniversePortion () const
bool	Plan ()
void	PlanMultiThread (void *data)
Protected Types
typedef Graph::Graph< Configuration, bool >	PrmGraph
Protected Member Functions
bool	AddNodeToGraph (const int graphNum, const Configuration &config)
int	CreateNewGraph (const Configuration &config)
void	DrawOverlay (const Configuration &config) const
Configuration	GenerateRandomConfig () const
void	MergeGraphs (const int base, const int merge, const Configuration &config)
void	PrintGraph (const int graphNum) const
Static Protected Member Functions
static void	SetColor (const int i)
Protected Attributes
std::vector< PrmGraph >	m_Graphs
std::vector< bool >	m_GraphInFreeSpace
bool	m_PlanComplete
int	m_NumberOfTimesContinued

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Detailed Description

Definition at line 14 of file PL_PrmIjg.h.

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Member Typedef Documentation

typedef Graph::Graph< Configuration, bool > PL_PrmIjg::PrmGraph [protected]

Definition at line 35 of file PL_PrmIjg.h.

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Constructor & Destructor Documentation

PL_PrmIjg::PL_PrmIjg (   )

Definition at line 13 of file PL_PrmIjg.cpp. References m_Graphs.

PL_PrmIjg::~PL_PrmIjg (   )  [virtual]

Definition at line 20 of file PL_PrmIjg.cpp.

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Member Function Documentation

bool PL_PrmIjg::AddNodeToGraph (  const int  graphNum, const Configuration &  config )  [protected]

Definition at line 29 of file PL_PrmIjg.cpp. References PL_HasCollisionDetector::collisionDetector, Graph::Graph< NodeData, EdgeData >::GetNodeData(), Graph::GraphBase::GetNumNodes(), CD_Bool::IsInterfering(), m_GraphInFreeSpace, and m_Graphs. Here is the call graph for this function:

int PL_PrmIjg::CreateNewGraph (  const Configuration &  config  )  [protected]

Definition at line 147 of file PL_PrmIjg.cpp. References Graph::Graph< NodeData, EdgeData >::AddNode(), PL_HasCollisionDetector::collisionDetector, CD_Bool::IsInterfering(), m_GraphInFreeSpace, and m_Graphs. Referenced by Plan(). Here is the call graph for this function:

bool PL_PrmIjg::DrawExplicit (   )  const [virtual]

Reimplemented from PL_OpenGL. Definition at line 171 of file PL_PrmIjg.cpp. References Color::Colorf::GlDraw(), Color::green, Semaphore::Lock(), m_GraphInFreeSpace, m_Graphs, Color::opaque, and Color::red. Here is the call graph for this function:

void PL_PrmIjg::DrawOverlay (  const Configuration &  config  )  const [protected]

Definition at line 270 of file PL_PrmIjg.cpp. References Configuration::DOF(). Here is the call graph for this function:

void PL_PrmIjg::DrawUniversePortion (   )  const [virtual]

Reimplemented from PL_OpenGL. Definition at line 296 of file PL_PrmIjg.cpp. References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DOF(), Color::Colorf::GlDraw(), Color::green, Semaphore::Lock(), m_GraphInFreeSpace, m_Graphs, Color::opaque, and Color::red. Here is the call graph for this function:

Configuration PL_PrmIjg::GenerateRandomConfig (   )  const [protected]

Definition at line 400 of file PL_PrmIjg.cpp. References PL_HasCollisionDetector::collisionDetector, Configuration::DOF(), PlannerBase::GetStartConfig(), CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), and VectorN::SetLength(). Here is the call graph for this function:

void PL_PrmIjg::MergeGraphs (  const int  base, const int  merge, const Configuration &  config )  [protected]

Definition at line 422 of file PL_PrmIjg.cpp. References Graph::Graph< NodeData, EdgeData >::Add(), Graph::Graph< NodeData, EdgeData >::Clear(), Graph::Graph< NodeData, EdgeData >::GetNodeData(), Graph::GraphBase::GetNumNodes(), m_Graphs, and m_PlanComplete. Here is the call graph for this function:

bool PL_PrmIjg::Plan (   )  [virtual]

Implements PlannerBase. Definition at line 473 of file PL_PrmIjg.cpp. References CreateNewGraph(), PlannerBase::GetGoalConfig(), PlannerBase::GetStartConfig(), Semaphore::Lock(), and m_Graphs. Here is the call graph for this function:

void PL_PrmIjg::PlanMultiThread (  void *  data  )

Definition at line 619 of file PL_PrmIjg.cpp.

void PL_PrmIjg::PrintGraph (  const int  graphNum  )  const [protected]

Definition at line 629 of file PL_PrmIjg.cpp. References Graph::Graph< NodeData, EdgeData >::GetNodeData(), Graph::GraphBase::GetNumNodes(), m_Graphs, and VectorN::Output(). Here is the call graph for this function:

void PL_PrmIjg::SetColor (  const int  i  )  [static, protected]

Definition at line 682 of file PL_PrmIjg.cpp. References Color::cyan_50, Color::green_50, Color::red_50, Color::white, and Color::yellow_50.

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Member Data Documentation

std::vector< bool > PL_PrmIjg::m_GraphInFreeSpace [protected]

Definition at line 37 of file PL_PrmIjg.h. Referenced by AddNodeToGraph(), CreateNewGraph(), DrawExplicit(), and DrawUniversePortion().

std::vector< PrmGraph > PL_PrmIjg::m_Graphs [protected]

Definition at line 36 of file PL_PrmIjg.h. Referenced by AddNodeToGraph(), CreateNewGraph(), DrawExplicit(), DrawUniversePortion(), MergeGraphs(), PL_PrmIjg(), Plan(), and PrintGraph().

int PL_PrmIjg::m_NumberOfTimesContinued [protected]

Definition at line 39 of file PL_PrmIjg.h.

bool PL_PrmIjg::m_PlanComplete [protected]

Definition at line 38 of file PL_PrmIjg.h. Referenced by MergeGraphs().

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

• planners/prm/PL_PrmIjg.h
• planners/prm/PL_PrmIjg.cpp

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