planners/atace/PL_ATACE.h File Reference

#include "kinematics/Configuration.h"
#include "geometry/Frame.h"
#include "Planners/PL_Boolean_Output.h"
#include "Planners/PL_OpenGL.h"
#include "planners/inversekin/IK_InvKinBase.h"
#include "robots/R_OpenChain.h"
#include <LEDA/dynamic_trees.h>
#include "kinematics/Pose.h"

Include dependency graph for PL_ATACE.h:

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Classes
struct	Node
struct	VertexInfo
class	PL_ATACE
Defines
#define	ERR_FAIL   0xff
#define	ERR_SUCCESS   0x00
#define	ERR_TIMEOUT   0x10
#define	ERR_ILLPARAMETER   0x20
#define	FLAG_NEW   0x01
#define	FLAG_OBSOLETE   0x02
#define	TYPE_START_CONF   0x01
#define	TYPE_START_POSE   0x02
#define	TYPE_GOAL_CONF   0x04
#define	TYPE_GOAL_POSE   0x08
#define	FLAG_C_METRICS   0x10
#define	FLAG_P_METRICS   0x01
#define	FLAG_B_METRICS   (FLAG_C_METRICS|FLAG_P_METRICS)
#define	LOCAL_JACOBIAN   0
#define	LOCAL_RRT   1
Typedefs
typedef PA_Points	Path
typedef vertex	Vertex
typedef std::vector< Frame >	EEPath
typedef bool(*	ProcIsStaified )(Frame &pose)
typedef void(*	ProcAdjustToSatisfy )(Frame &pose)
typedef void(*	ProcGetVelocity )(Frame &pose, VectorN &vel)
typedef void(*	ProcGetDirectedVelocity )(Frame &pose, Frame &dir, VectorN &vel, Frame &projection, bool greedy, double timeInterval)

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Define Documentation

#define ERR_FAIL   0xff

Definition at line 11 of file PL_ATACE.h. Referenced by PL_RRT_ClosedChain::ConnectToGoal(), PL_RRT_ClosedChain::ConnectToGoalJacobian(), PL_RRT_ClosedChain::Extend(), PL_RGD_RRT::Extend(), PL_ATACE::ExtendToGoal(), PL_RRT_ClosedChain::Plan(), PL_RGD_RRT::Plan(), and PL_ATACE::Plan().

#define ERR_ILLPARAMETER   0x20

Definition at line 14 of file PL_ATACE.h.

#define ERR_SUCCESS   0x00

Definition at line 12 of file PL_ATACE.h. Referenced by PL_RRT_ClosedChain::ConnectToGoal(), PL_RGD_RRT::ConnectToGoal(), PL_RRT_ClosedChain::ConnectToGoal2(), PL_RRT_ClosedChain::Extend(), PL_RGD_RRT::Extend(), PL_ATACE::ExtendToGoal(), PL_RRT_ClosedChain::Plan(), PL_RGD_RRT::Plan(), and PL_ATACE::Plan().

#define ERR_TIMEOUT   0x10

Definition at line 13 of file PL_ATACE.h. Referenced by PL_RRT_ClosedChain::Plan(), PL_RGD_RRT::Plan(), and PL_ATACE::Plan().

#define FLAG_B_METRICS   (FLAG_C_METRICS|FLAG_P_METRICS)

Definition at line 29 of file PL_ATACE.h.

#define FLAG_C_METRICS   0x10

Definition at line 27 of file PL_ATACE.h. Referenced by PL_ATACE::FindClosestInTree().

#define FLAG_NEW   0x01

Definition at line 17 of file PL_ATACE.h. Referenced by PL_ATACE::AddNodeInTree(), and PL_ATACE::CreateTree().

#define FLAG_OBSOLETE   0x02

Definition at line 18 of file PL_ATACE.h. Referenced by PL_ATACE::ClearTree(), PL_ATACE::DrawExplicit(), and PL_ATACE::FindClosestInTree().

#define FLAG_P_METRICS   0x01

Definition at line 28 of file PL_ATACE.h. Referenced by PL_ATACE::FindClosestInTree(), and PL_ATACE::PL_ATACE().

#define LOCAL_JACOBIAN   0

Definition at line 32 of file PL_ATACE.h. Referenced by PL_ATACE::PL_ATACE().

#define LOCAL_RRT   1

Definition at line 33 of file PL_ATACE.h. Referenced by PL_ATACE::SetLocalPlanner().

#define TYPE_GOAL_CONF   0x04

Definition at line 23 of file PL_ATACE.h. Referenced by PL_ATACE::SetProblemType().

#define TYPE_GOAL_POSE   0x08

Definition at line 24 of file PL_ATACE.h. Referenced by PL_ATACE::SetProblemType().

#define TYPE_START_CONF   0x01

Definition at line 21 of file PL_ATACE.h. Referenced by PL_ATACE::SetProblemType().

#define TYPE_START_POSE   0x02

Definition at line 22 of file PL_ATACE.h. Referenced by PL_ATACE::SetProblemType().

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Typedef Documentation

typedef std::vector<Frame> EEPath

Definition at line 58 of file PL_ATACE.h.

typedef PA_Points Path

Definition at line 54 of file PL_ATACE.h.

typedef void(* ProcAdjustToSatisfy)(Frame &pose)

Definition at line 86 of file PL_ATACE.h.

typedef void(* ProcGetDirectedVelocity)(Frame &pose, Frame &dir, VectorN &vel, Frame &projection, bool greedy, double timeInterval)

Definition at line 88 of file PL_ATACE.h.

typedef void(* ProcGetVelocity)(Frame &pose, VectorN &vel)

Definition at line 87 of file PL_ATACE.h.

typedef bool(* ProcIsStaified)(Frame &pose)

Definition at line 85 of file PL_ATACE.h.

typedef vertex Vertex

Definition at line 57 of file PL_ATACE.h.

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