PL_Sequential Class Reference

#include <planners/sequential/PL_Sequential.h>

Inherits PL_Boolean_Output, and PL_OpenGL.

Inheritance diagram for PL_Sequential:

[legend]Collaboration diagram for PL_Sequential:


Public Member Functions
virtual	~PL_Sequential ()
virtual bool	DrawExplicit () const
virtual bool	Plan ()
void	initialize_parameters ()
virtual void	SetCollisionDetector (CD_BasicStyle *collisionDetector)
Private Member Functions
void	convert_angle_to_index ()
int	rad_to_index (double angle)
double	index_to_rad (int index)
void	allocate_space_for_link_cs (int L)
void	allocate_space_for_working_tq_path ()
void	allocate_space_for_Link_tq_path (int link1, int length)
void	free_space_for_link_cs (int L)
int	plan_path_for_first_link ()
int	plan_path_for_nth_link (int lnkno, TQLinkCSpace ptqlink, TQConfig pblock, TQConfig pblock_last, int bl, int BT_Flag, int block_flag, int *narrow_flag)
char **	malloc2D (int dy, int dz, int oc)
void	retrieve_global_path (double *globalpath, int pathlen, double startdof, double *goaldof)
void	write_map (char flnm, FileType filetype, char *map, int dimx, int dimy, int bitsize)
void	write_global_path (char flnm, int length, int degree, double *gpath)
int	smoothpath (int nb_degree, int intervals, double *dofpath, int pathlen)
int	compute_a_column_for_link_cspace (TQLinkCSpace tqlcs, int lnkno, int col, TQConfig para)
void	write_linkpath (char flnm, FileType filetype, char map, int dim, int bitsize)
void	write_linkpathtxt (char flnm, TQConfig map, int dim)
void	write_tqif (char *flnm, TQConfig tqi, TQConfig tqf)
int	compute_cspace_obstacle_map (int lnkno)
void	modify_cspace_obstacle_map (TQLinkCSpace ptqlink, TQConfig tqi, TQConfig tqf, TQConfig pblock, int len, int L1, int BT_FLAG, int narrow_flag)
int	find_main_path (int lnkno, IntPoint tqinitial, IntPoint tqfinal, TQLinkCSpace ptqlink, LinkPath result, int *narrow_flag)
void	find_forward_extension (int lnkno, IntPoint tqinitial, IntPoint tqfinal, TQLinkCSpace ptqlink, LinkPath result)
void	find_backward_extension (int lnkno, IntPoint tqinitial, IntPoint tqfinal, TQLinkCSpace ptqlink, LinkPath result)
void	combine_three_paths (LinkPath combpath, LinkPath mainpath, LinkPath frwdpath, LinkPath bkwdpath, int iposition, int fposition)
void	reparameterize_path (int bound, LinkPath whole_path, LinkPath result, int ipos, int fpos, int L1)
int	line_free (double dofpath, int intervals, int start, int end, double tmppath, int *path_len)
int	shift_dofpath (double dofpath, int pathlen, double gpath, int npathlen, int pt1, int pt2)
void	free2D (void **pp)
void	distance2d (unsigned char in, int dimx, int dimy, short int V, unsigned char **voro)
void	voro_heuristic2d (unsigned char in, int dimx, int dimy, IntPoint goal, short int V, unsigned char voro, short int heurpot, int *flag)
void	find_path_by_heuristic (LinkPath result, short int heurpot, int dimx, int dimy, IntPoint start, IntPoint *goal)
double	qdist (double q1, double q2)
int	insert (int xx, int yy, IntPoint *FRONT, IntPoint PFRONT, int nbfront, short int **V)
int	deletemin (int xx, int yy, IntPoint FRONT, int nbfront, short int V)
Private Attributes
int	debug
int	arm_degree
int	dimt [MAX_DEGREE]
int	dimq [MAX_DEGREE]
unsigned char *	wall
double	COEFD_Q
double	COEFQ_D
double *	orig_initial_config
double *	orig_final_config
IntConfig	initial_config
IntConfig	final_config
JointLimit	original_joint_limit [MAX_DEGREE]
IntJointLimit	joint_limit [MAX_DEGREE]
TQCSpace	tqcs
LinkPath *	lnkcps
LinkPath	bkwdpath
LinkPath	frwdpath
LinkPath	mainpath
LinkPath	combpath
TQConfig	initial_tq [MAX_DEGREE]
TQConfig	final_tq [MAX_DEGREE]
double **	globalpath
int	globaldim
char	datadir [40]
int	max_level
int	max_bt_no
int	sp_debug_level
double	distance_detect_range
int	BT_level
int	BT_level_test
int	BT_number [MAX_BACKTRACKING_LEVEL+2]

Detailed Description

Definition at line 49 of file PL_Sequential.h.

Constructor & Destructor Documentation

PL_Sequential::~PL_Sequential ( ) [virtual]

Definition at line 24 of file PL_Sequential.cpp.
References arm_degree, linkpath::d, lnkcps, orig_final_config, and orig_initial_config.

Member Function Documentation

void PL_Sequential::allocate_space_for_link_cs ( int L ) [private]

Definition at line 2452 of file PL_Sequential.cpp.
References tqlinkcspace::bitmap, dimq, tqlinkcspace::dimq, tqlinkcspace::dimt, tqlinkcspace::distmap, malloc2D(), tqlinkcspace::potential, tqcs, tqcspace::tqlink, and tqlinkcspace::voro.
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void PL_Sequential::allocate_space_for_Link_tq_path ( int link1,

int length

) [private]

Definition at line 2408 of file PL_Sequential.cpp.
References linkpath::d, linkpath::dim, lnkcps, and linkpath::maxdim.

void PL_Sequential::allocate_space_for_working_tq_path ( ) [private]

Definition at line 2487 of file PL_Sequential.cpp.
References bkwdpath, combpath, linkpath::d, frwdpath, mainpath, MAX_CS_PATH_LEN, MAX_PART_PATH, and linkpath::maxdim.

void PL_Sequential::combine_three_paths ( LinkPath * combpath,

LinkPath * mainpath,

LinkPath * frwdpath,

LinkPath * bkwdpath,

int * iposition,

int * fposition

) [private]

Definition at line 1793 of file PL_Sequential.cpp.
References bkwdpath, combpath, linkpath::d, linkpath::dim, tqconfig::q, and tqconfig::t.

int PL_Sequential::compute_a_column_for_link_cspace ( TQLinkCSpace * tqlcs,

int lnkno,

int col,

TQConfig * para

) [private]

Definition at line 1090 of file PL_Sequential.cpp.
References tqlinkcspace::bitmap, tqlinkcspace::dimq, intjointlimit::end, joint_limit, MAX, MIN, OBSTACLE, Configuration::SetNumDOF(), and intjointlimit::start.
Referenced by plan_path_for_first_link().
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int PL_Sequential::compute_cspace_obstacle_map ( int lnkno ) [private]

Definition at line 1165 of file PL_Sequential.cpp.
References linkpath::d, dimt, lnkcps, MAX_DEGREE, tqconfig::q, SP_TQ_OK, and tqconfig::t.

void PL_Sequential::convert_angle_to_index ( ) [private]

Definition at line 1207 of file PL_Sequential.cpp.
References intjointlimit::end, final_config, initial_config, joint_limit, orig_final_config, orig_initial_config, original_joint_limit, rad_to_index(), intjointlimit::start, jointlimit::status, and intjointlimit::status.
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int PL_Sequential::deletemin ( int xx,

int yy,

IntPoint ** FRONT,

int nbfront,

short int ** V

) [private]

Definition at line 510 of file PL_Sequential.cpp.
References intpoint::x, and intpoint::y.

void PL_Sequential::distance2d ( unsigned char ** in,

int dimx,

int dimy,

short int ** V,

unsigned char ** voro

) [private]

Definition at line 1848 of file PL_Sequential.cpp.
References malloc2D(), and OBSTACLE.
Referenced by find_backward_extension(), find_forward_extension(), and find_main_path().
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bool PL_Sequential::DrawExplicit ( ) const [virtual]

Reimplemented from PL_OpenGL.
Definition at line 53 of file PL_Sequential.cpp.

void PL_Sequential::find_backward_extension ( int lnkno,

IntPoint * tqinitial,

IntPoint * tqfinal,

TQLinkCSpace * ptqlink,

LinkPath * result

) [private]

Definition at line 1708 of file PL_Sequential.cpp.
References tqlinkcspace::bitmap, dimq, dimt, distance2d(), tqlinkcspace::distmap, intjointlimit::end, FALSE, joint_limit, MAXSHORTINT, tqlinkcspace::potential, SAFETY_DISTANCE, intjointlimit::start, TRUE, tqlinkcspace::voro, voro_heuristic2d(), wall, intpoint::x, and intpoint::y.
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void PL_Sequential::find_forward_extension ( int lnkno,

IntPoint * tqinitial,

IntPoint * tqfinal,

TQLinkCSpace * ptqlink,

LinkPath * result

) [private]

Definition at line 1621 of file PL_Sequential.cpp.
References tqlinkcspace::bitmap, dimq, dimt, distance2d(), tqlinkcspace::distmap, intjointlimit::end, FALSE, joint_limit, MAXSHORTINT, tqlinkcspace::potential, SAFETY_DISTANCE, intjointlimit::start, TRUE, tqlinkcspace::voro, voro_heuristic2d(), wall, intpoint::x, and intpoint::y.
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PL_Sequential::find_main_path ( int lnkno,

IntPoint * tqinitial,

IntPoint * tqfinal,

TQLinkCSpace * ptqlink,

LinkPath * result,

int * narrow_flag

) [private]

Definition at line 1366 of file PL_Sequential.cpp.
References tqlinkcspace::bitmap, linkpath::d, linkpath::dim, dimq, dimt, distance2d(), tqlinkcspace::distmap, MAX, MAXBLOCKLENGTH, MAXSHORTINT, MIN, tqlinkcspace::potential, tqconfig::q, ROUND, tqconfig::t, tqlinkcspace::voro, voro_heuristic2d(), wall, intpoint::x, and intpoint::y.
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void PL_Sequential::find_path_by_heuristic ( LinkPath * result,

short int ** heurpot,

int dimx,

int dimy,

IntPoint * start,

IntPoint * goal

) [private]

Definition at line 2244 of file PL_Sequential.cpp.
References linkpath::d, FALSE, tqconfig::q, tqconfig::t, TRUE, intpoint::x, and intpoint::y.

void PL_Sequential::free2D ( void ** pp ) [private]

Definition at line 2875 of file PL_Sequential.cpp.
Referenced by free_space_for_link_cs().

void PL_Sequential::free_space_for_link_cs ( int L ) [private]

Definition at line 2424 of file PL_Sequential.cpp.
References tqlinkcspace::bitmap, tqlinkcspace::distmap, free2D(), tqlinkcspace::potential, tqcs, tqcspace::tqlink, and tqlinkcspace::voro.
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double PL_Sequential::index_to_rad ( int index ) [private]

Definition at line 1239 of file PL_Sequential.cpp.
References COEFQ_D, and PI.

void PL_Sequential::initialize_parameters ( )

Definition at line 381 of file PL_Sequential.cpp.
References COEFD_Q, COEFQ_D, DIMQ, dimq, DIMT, dimt, MAX_BACKTRACKING_LEVEL, MAX_BACKTRACKING_NUMBER, max_bt_no, max_level, PI, and sp_debug_level.
Referenced by ServerBase::RefreshPlanner().

int PL_Sequential::insert ( int xx,

int yy,

IntPoint ** FRONT,

IntPoint * PFRONT,

int nbfront,

short int ** V

) [private]

Definition at line 476 of file PL_Sequential.cpp.
References intpoint::x, and intpoint::y.

int PL_Sequential::line_free ( double ** dofpath,

int intervals,

int start,

int end,

double ** tmppath,

int * path_len

) [private]

Definition at line 2801 of file PL_Sequential.cpp.
Referenced by smoothpath().

char ** PL_Sequential::malloc2D ( int dy,

int dz,

int oc

) [private]

Definition at line 2516 of file PL_Sequential.cpp.
Referenced by allocate_space_for_link_cs(), distance2d(), and smoothpath().

void PL_Sequential::modify_cspace_obstacle_map ( TQLinkCSpace * ptqlink,

TQConfig * tqi,

TQConfig * tqf,

TQConfig * pblock,

int len,

int L1,

int * BT_FLAG,

int * narrow_flag

) [private]

Definition at line 1249 of file PL_Sequential.cpp.

bool PL_Sequential::Plan ( ) [virtual]

Implements PlannerBase.
Definition at line 131 of file PL_Sequential.cpp.
References arm_degree, PL_HasCollisionDetector::collisionDetector, jointlimit::end, CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), original_joint_limit, RADIAN, SP_PLANNING, and jointlimit::start.
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int PL_Sequential::plan_path_for_first_link ( ) [private]

Definition at line 547 of file PL_Sequential.cpp.
References tqlinkcspace::bitmap, compute_a_column_for_link_cspace(), tqlinkcspace::dimq, FALSE, joint_limit, OBSTACLE, tqconfig::q, tqlinkcspace::q_bound, SP_STOPPING, tqconfig::t, tqlinkcspace::t_bound, tqcs, tqcspace::tqlink, and TRUE.
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int PL_Sequential::plan_path_for_nth_link ( int lnkno,

TQLinkCSpace * ptqlink,

TQConfig * pblock,

TQConfig * pblock_last,

int * bl,

int * BT_Flag,

int * block_flag,

int * narrow_flag

) [private]

Definition at line 793 of file PL_Sequential.cpp.
References CD_BasicStyle::ActivateFrames(), and PL_HasCollisionDetector::collisionDetector.
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double PL_Sequential::qdist ( double * q1,

double * q2

) [private]

Definition at line 2899 of file PL_Sequential.cpp.
References ABS.
Referenced by shift_dofpath().

int PL_Sequential::rad_to_index ( double angle ) [private]

Definition at line 1227 of file PL_Sequential.cpp.
References COEFD_Q, and PI.
Referenced by convert_angle_to_index().

void PL_Sequential::reparameterize_path ( int bound,

LinkPath * whole_path,

LinkPath * result,

int * ipos,

int * fpos,

int L1

) [private]

Definition at line 2358 of file PL_Sequential.cpp.
References linkpath::d, linkpath::dim, dimt, NO_PATH_COMPRESS, tqconfig::q, ROUND, and tqconfig::t.

void PL_Sequential::retrieve_global_path ( double ** globalpath,

int pathlen,

double * startdof,

double * goaldof

) [private]

Definition at line 2308 of file PL_Sequential.cpp.
References linkpath::d, lnkcps, MAX_DEGREE, tqconfig::q, and tqconfig::t.

void PL_Sequential::SetCollisionDetector ( CD_BasicStyle * collisionDetector ) [virtual]

Reimplemented from PL_HasCollisionDetector.
Definition at line 415 of file PL_Sequential.cpp.
References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DeactivateFrames(), CD_BasicStyle::DOF(), and PL_HasCollisionDetector::SetCollisionDetector().
Referenced by ServerBase::RefreshPlanner().
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int PL_Sequential::shift_dofpath ( double ** dofpath,

int pathlen,

double ** gpath,

int npathlen,

int pt1,

int pt2

) [private]

Definition at line 2820 of file PL_Sequential.cpp.
References dimq, PI, and qdist().
Referenced by smoothpath().
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int PL_Sequential::smoothpath ( int nb_degree,

int intervals,

double ** dofpath,

int * pathlen

) [private]

Definition at line 2622 of file PL_Sequential.cpp.
References line_free(), malloc2D(), MAX, MIN, shift_dofpath(), and sp_debug_level.
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void PL_Sequential::voro_heuristic2d ( unsigned char ** in,

int dimx,

int dimy,

IntPoint goal,

short int ** V,

unsigned char ** voro,

short int ** heurpot,

int * flag

) [private]

Definition at line 2044 of file PL_Sequential.cpp.
References MAXSHORTINT, and OBSTACLE.
Referenced by find_backward_extension(), find_forward_extension(), and find_main_path().

void PL_Sequential::write_global_path ( char * flnm,

int length,

int degree,

double ** gpath

) [private]

Definition at line 2589 of file PL_Sequential.cpp.

void PL_Sequential::write_linkpath ( char * flnm,

FileType filetype,

char * map,

int dim,

int bitsize

) [private]

Definition at line 2700 of file PL_Sequential.cpp.
References filedescript::comment, filedescript::dimx, filedescript::dimy, filedescript::dimz, filedescript::ftype, and filedescript::octet.

void PL_Sequential::write_linkpathtxt ( char * flnm,

TQConfig * map,

int dim

) [private]

Definition at line 2738 of file PL_Sequential.cpp.

void PL_Sequential::write_map ( char * flnm,

FileType filetype,

char ** map,

int dimx,

int dimy,

int bitsize

) [private]

Definition at line 2552 of file PL_Sequential.cpp.
References filedescript::comment, filedescript::dimx, filedescript::dimy, filedescript::dimz, filedescript::ftype, and filedescript::octet.

void PL_Sequential::write_tqif ( char * flnm,

TQConfig tqi,

TQConfig tqf

) [private]

Definition at line 2770 of file PL_Sequential.cpp.

Member Data Documentation

int PL_Sequential::arm_degree [private]

Definition at line 184 of file PL_Sequential.h.
Referenced by Plan(), and ~PL_Sequential().

LinkPath PL_Sequential::bkwdpath [private]

Definition at line 218 of file PL_Sequential.h.
Referenced by allocate_space_for_working_tq_path(), and combine_three_paths().

int PL_Sequential::BT_level [private]

Definition at line 235 of file PL_Sequential.h.

int PL_Sequential::BT_level_test [private]

Definition at line 235 of file PL_Sequential.h.

int PL_Sequential::BT_number[MAX_BACKTRACKING_LEVEL+2] [private]

Definition at line 235 of file PL_Sequential.h.

double PL_Sequential::COEFD_Q [private]

Definition at line 193 of file PL_Sequential.h.
Referenced by initialize_parameters(), and rad_to_index().

double PL_Sequential::COEFQ_D [private]

Definition at line 193 of file PL_Sequential.h.
Referenced by index_to_rad(), and initialize_parameters().

LinkPath PL_Sequential::combpath [private]

Definition at line 218 of file PL_Sequential.h.
Referenced by allocate_space_for_working_tq_path(), and combine_three_paths().

char PL_Sequential::datadir[40] [private]

Definition at line 227 of file PL_Sequential.h.

int PL_Sequential::debug [private]

Definition at line 184 of file PL_Sequential.h.

int PL_Sequential::dimq[MAX_DEGREE] [private]

Definition at line 184 of file PL_Sequential.h.
Referenced by allocate_space_for_link_cs(), find_backward_extension(), find_forward_extension(), find_main_path(), initialize_parameters(), and shift_dofpath().

int PL_Sequential::dimt[MAX_DEGREE] [private]

Definition at line 184 of file PL_Sequential.h.
Referenced by compute_cspace_obstacle_map(), find_backward_extension(), find_forward_extension(), find_main_path(), initialize_parameters(), and reparameterize_path().

double PL_Sequential::distance_detect_range [private]

Definition at line 232 of file PL_Sequential.h.

IntConfig PL_Sequential::final_config [private]

Definition at line 202 of file PL_Sequential.h.
Referenced by convert_angle_to_index().

TQConfig PL_Sequential::final_tq[MAX_DEGREE] [private]

Definition at line 222 of file PL_Sequential.h.

LinkPath PL_Sequential::frwdpath [private]

Definition at line 218 of file PL_Sequential.h.
Referenced by allocate_space_for_working_tq_path().

int PL_Sequential::globaldim [private]

Definition at line 225 of file PL_Sequential.h.

double** PL_Sequential::globalpath [private]

Definition at line 224 of file PL_Sequential.h.

IntConfig PL_Sequential::initial_config [private]

Definition at line 202 of file PL_Sequential.h.
Referenced by convert_angle_to_index().

TQConfig PL_Sequential::initial_tq[MAX_DEGREE] [private]

Definition at line 222 of file PL_Sequential.h.

IntJointLimit PL_Sequential::joint_limit[MAX_DEGREE] [private]

Definition at line 204 of file PL_Sequential.h.
Referenced by compute_a_column_for_link_cspace(), convert_angle_to_index(), find_backward_extension(), find_forward_extension(), and plan_path_for_first_link().

LinkPath* PL_Sequential::lnkcps [private]

Definition at line 218 of file PL_Sequential.h.
Referenced by allocate_space_for_Link_tq_path(), compute_cspace_obstacle_map(), retrieve_global_path(), and ~PL_Sequential().

LinkPath PL_Sequential::mainpath [private]

Definition at line 218 of file PL_Sequential.h.
Referenced by allocate_space_for_working_tq_path().

int PL_Sequential::max_bt_no [private]

Definition at line 229 of file PL_Sequential.h.
Referenced by initialize_parameters().

int PL_Sequential::max_level [private]

Definition at line 229 of file PL_Sequential.h.
Referenced by initialize_parameters().

double * PL_Sequential::orig_final_config [private]

Definition at line 201 of file PL_Sequential.h.
Referenced by convert_angle_to_index(), and ~PL_Sequential().

double* PL_Sequential::orig_initial_config [private]

Definition at line 201 of file PL_Sequential.h.
Referenced by convert_angle_to_index(), and ~PL_Sequential().

JointLimit PL_Sequential::original_joint_limit[MAX_DEGREE] [private]

Definition at line 203 of file PL_Sequential.h.
Referenced by convert_angle_to_index(), and Plan().

int PL_Sequential::sp_debug_level [private]

Definition at line 231 of file PL_Sequential.h.
Referenced by initialize_parameters(), and smoothpath().

TQCSpace PL_Sequential::tqcs [private]

Definition at line 216 of file PL_Sequential.h.
Referenced by allocate_space_for_link_cs(), free_space_for_link_cs(), and plan_path_for_first_link().

unsigned char* PL_Sequential::wall [private]

Definition at line 190 of file PL_Sequential.h.
Referenced by find_backward_extension(), find_forward_extension(), and find_main_path().

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

planners/sequential/PL_Sequential.h
planners/sequential/PL_Sequential.cpp

Generated on Sat Apr 1 22:02:09 2006 for Motion Planning Kernel by

1.4.6-NO

PL_Sequential Class Reference

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation