ServerBase Class Reference

#include <server/ServerBase.h>

Inherited by Server.

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List of all members.

Public Member Functions

 ServerBase ()
virtual ~ServerBase ()
void SetRootPath (const char *path)
void SetMPKWorkingDirectory (const char *path)
void R_ThreeCylinderRobot ()
bool OpenExampleFile (const char *filename)
bool SaveExampleFile (const char *filename)
bool ParseRobotFile (const char *filename)
void ParseRobotOpenChain (IfstreamWithComments &is)
bool ParseObstacleFile (const char *filename)
bool SetCollisionDetector (CollisionDetectorType collisionDetectorType)
bool RefreshCollisionDetector ()
bool RefreshRobotFile ()
const RobotBase * GetRobot (const char *const filename) const
const ObjectBase * GetMPKObject (const char *const filename) const
const Frame GetFrame (const char *const name) const
bool SetPlanner (PlannerType plannerType)
bool RefreshPlanner ()
PlannerType GetPlannerType ()
CollisionDetectorType GetCollisionDetectorType ()
bool SetSmoother (SmootherType smootherType)
SmootherType GetSmootherType ()
bool RefreshSmoother ()
void * GetPlannerParameters ()
bool SetPlannerParameters (const void *param)
bool LoadUserObstacle (const char *obsfile)
bool SaveUserObstacle (const char *obsfile)
bool AddObstacle (double x, double y)
const char * GetRobotFilename () const
const char * GetObstacleFilename () const

Public Attributes

CD_BasicStyle * collisionDetector
PL_HasCollisionDetector * planner
SmootherBase * smoother
GL_Universe universe
Configuration m_CurrentConfig
Configuration m_GoalConfig
Configuration m_StartConfig
Vector4 m_CameraPosition
Vector4 m_CameraLookat
Vector4 m_CameraUp
Vector4 m_CspaceCameraPosition
Vector4 m_CspaceCameraLookat
Vector4 m_CspaceCameraUp
PA_Points m_Path

Protected Member Functions

void ParseCspaceCamera (IfstreamWithComments &is)
void ParseGoalFrames (IfstreamWithComments &is)

Protected Attributes

CollisionDetectorType collisionDetectorType
bool planPassed
char filename [256]
char rootpath [256]
char obstacleFilename [256]
PlannerType plannerType
SmootherType smootherType
std::vector< Matrix4x4 > userObstacles

Detailed Description

Definition at line 25 of file ServerBase.h.

Constructor & Destructor Documentation

ServerBase::ServerBase (   ) 
 

Definition at line 111 of file ServerBase.cpp.

References CD_VCOLLIDE, filename, obstacleFilename, PLANNER_NONE, rootpath, SetCollisionDetector(), SetPlanner(), SetSmoother(), and SMOOTHER_NONE.

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ServerBase::~ServerBase (   )  [virtual]
 

Definition at line 135 of file ServerBase.cpp.

References collisionDetector, planner, and smoother.

Member Function Documentation

bool ServerBase::AddObstacle (  double  x,
double  y
) 
 

Definition at line 1256 of file ServerBase.cpp.

References Universe::AddEntity(), ObjectBase::Clone(), GetAbsoluteFileName(), GetMPKWorkingDirectory(), VRML_Reader::GetTheObject(), VRML_20_Reader::Read(), Entity::SetBaseFrame(), VRML_Reader::SetFilename(), ObjectBase::SetFrame(), Matrix4x4::Translate(), universe, and userObstacles.

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CollisionDetectorType ServerBase::GetCollisionDetectorType (   ) 
 

Definition at line 963 of file ServerBase.cpp.

References collisionDetectorType.

const Frame ServerBase::GetFrame (  const char *const   name  )  const
 

Definition at line 367 of file ServerBase.cpp.

const ObjectBase * ServerBase::GetMPKObject (  const char *const   filename  )  const
 

Definition at line 359 of file ServerBase.cpp.

const char * ServerBase::GetObstacleFilename (   )  const
 

Definition at line 1186 of file ServerBase.cpp.

References obstacleFilename.

void * ServerBase::GetPlannerParameters (   ) 
 

Definition at line 148 of file ServerBase.cpp.

References PlannerBase::GetParameters(), and planner.

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PlannerType ServerBase::GetPlannerType (   ) 
 

Definition at line 877 of file ServerBase.cpp.

References plannerType.

const RobotBase * ServerBase::GetRobot (  const char *const   filename  )  const
 

Definition at line 350 of file ServerBase.cpp.

References Universe::GetEntity(), and universe.

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const char * ServerBase::GetRobotFilename (   )  const
 

Definition at line 1181 of file ServerBase.cpp.

References filename.

SmootherType ServerBase::GetSmootherType (   ) 
 

Definition at line 896 of file ServerBase.cpp.

References smootherType.

bool ServerBase::LoadUserObstacle (  const char *  obsfile  ) 
 

Definition at line 1305 of file ServerBase.cpp.

bool ServerBase::OpenExampleFile (  const char *  filename  ) 
 

Definition at line 977 of file ServerBase.cpp.

References Configuration::DOF(), eatwhite(), Universe::Empty(), IfstreamWithComments::getline(), IJG_Assert, PlannerBase::Load(), m_CameraLookat, m_CameraPosition, m_CameraUp, m_CurrentConfig, m_GoalConfig, m_Path, m_StartConfig, IfstreamWithComments::open(), ParseCspaceCamera(), ParseGoalFrames(), ParseObstacleFile(), ParseRobotFile(), planner, RefreshCollisionDetector(), RefreshPlanner(), SetCollisionDetector(), PlannerBase::SetGoalConfig(), SetPlanner(), PlannerBase::SetStartConfig(), MPKstring::TrimTrailingWhitespace(), and universe.

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void ServerBase::ParseCspaceCamera (  IfstreamWithComments &  is  )  [protected]
 

Definition at line 1194 of file ServerBase.cpp.

References m_CspaceCameraLookat, m_CspaceCameraPosition, and m_CspaceCameraUp.

Referenced by OpenExampleFile().

void ServerBase::ParseGoalFrames (  IfstreamWithComments &  is  )  [protected]
 

Definition at line 1204 of file ServerBase.cpp.

References IJG_Assert, planner, and IK_InvKinBase::SetGoalFrame().

Referenced by OpenExampleFile().

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bool ServerBase::ParseObstacleFile (  const char *  filename  ) 
 

Definition at line 227 of file ServerBase.cpp.

References Universe::AddEntity(), ObjectBase::Clone(), GetAbsoluteFileName(), VRML_Reader::GetTheObject(), VRML_20_Reader::Read(), rootpath, VRML_Reader::SetFilename(), and universe.

Referenced by OpenExampleFile(), and Server::SpecifyEnvironment().

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bool ServerBase::ParseRobotFile (  const char *  filename  ) 
 

Definition at line 175 of file ServerBase.cpp.

References GetAbsoluteFileName(), IJG_Assert, IJG_AssertMsg, IfstreamWithComments::open(), and rootpath.

Referenced by OpenExampleFile(), R_ThreeCylinderRobot(), and RefreshRobotFile().

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void ServerBase::ParseRobotOpenChain (  IfstreamWithComments &  is  ) 
 

Definition at line 220 of file ServerBase.cpp.

void ServerBase::R_ThreeCylinderRobot (   ) 
 

Definition at line 165 of file ServerBase.cpp.

References Universe::Empty(), ParseRobotFile(), and universe.

Referenced by Server::SpecifyRobot().

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bool ServerBase::RefreshCollisionDetector (   ) 
 

Definition at line 269 of file ServerBase.cpp.

References CD_ICOLLIDE, CD_RANGE_SENSOR, CD_SIMPLE, CD_SOLID, CD_SWIFTPP, CD_VCOLLIDE, collisionDetector, collisionDetectorType, RobotBase::GetLink(), CD_BasicStyle::GetRobot(), RefreshPlanner(), and universe.

Referenced by OpenExampleFile(), and SetCollisionDetector().

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bool ServerBase::RefreshPlanner (   ) 
 

Definition at line 391 of file ServerBase.cpp.

References collisionDetector, IK_InvKinBase::CopySettings(), IK_ACA::CopySettings(), PL_Astar::CopySettings(), PL_PRM::CopySettings(), PL_Sequential::initialize_parameters(), KickOut, planner, PLANNER_ACA, PLANNER_ACA_CONNECT, PLANNER_ASTAR, PLANNER_ATACE, PLANNER_FORTEST, PLANNER_IK_ACA, PLANNER_IK_JACOBIAN, PLANNER_JONATHAN, PLANNER_LINEAR, PLANNER_MPEP, PLANNER_NEURAL, PLANNER_NONE, PLANNER_PRM, PLANNER_PRM_CLOSEDCHAIN, PLANNER_PRM_IJG, PLANNER_RANDOM, PLANNER_RGD_CONSTRAINT, PLANNER_RRT, PLANNER_RRT_CLOSEDCHAIN, PLANNER_RRT_CONNECT, PLANNER_SANDROS, PLANNER_SEQUENTIAL, PLANNER_SIMPLEX_SUBDIVISION, plannerType, RefreshSmoother(), CD_Linear::ResetStats(), PL_ATACE::SetCollisionDetector(), IK_Jacobian::SetCollisionDetector(), PL_MPEP::SetCollisionDetector(), PL_ForTest::SetCollisionDetector(), IK_ACA::SetCollisionDetector(), PL_Astar::SetCollisionDetector(), PL_Sandros::SetCollisionDetector(), PL_RGD_PRM::SetCollisionDetector(), PL_RRT_ClosedChain::SetCollisionDetector(), PL_PRM_ClosedChain::SetCollisionDetector(), PL_PRM::SetCollisionDetector(), PL_Range_Sensor::SetCollisionDetector(), PL_Sequential::SetCollisionDetector(), PL_HasCollisionDetector::SetCollisionDetector(), PlannerBase::SetGoalConfig(), and PlannerBase::SetStartConfig().

Referenced by OpenExampleFile(), RefreshCollisionDetector(), and SetPlanner().

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bool ServerBase::RefreshRobotFile (   ) 
 

Definition at line 342 of file ServerBase.cpp.

References Universe::Empty(), filename, ParseRobotFile(), and universe.

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bool ServerBase::RefreshSmoother (   ) 
 

Definition at line 906 of file ServerBase.cpp.

References planner, PL_Boolean_Output::SetSmoother(), smoother, SMOOTHER_NONE, SMOOTHER_RANDOM_NODE_PAIR, SMOOTHER_SUCCESSIVE_AND_RANDOM, SMOOTHER_SUCCESSIVE_NODE_PAIR, and SMOOTHER_TRISECTION.

Referenced by RefreshPlanner(), and SetSmoother().

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bool ServerBase::SaveExampleFile (  const char *  filename  ) 
 

Definition at line 1131 of file ServerBase.cpp.

bool ServerBase::SaveUserObstacle (  const char *  obsfile  ) 
 

Definition at line 1284 of file ServerBase.cpp.

bool ServerBase::SetCollisionDetector (  CollisionDetectorType  collisionDetectorType  ) 
 

Definition at line 256 of file ServerBase.cpp.

References RefreshCollisionDetector().

Referenced by OpenExampleFile(), Server::Plan(), ServerBase(), and Server::SpecifyCollisionDetector().

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void ServerBase::SetMPKWorkingDirectory (  const char *  path  ) 
 

Definition at line 1237 of file ServerBase.cpp.

bool ServerBase::SetPlanner (  PlannerType  plannerType  ) 
 

Definition at line 376 of file ServerBase.cpp.

References RefreshPlanner().

Referenced by OpenExampleFile(), ServerBase(), and Server::SpecifyPlanner().

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bool ServerBase::SetPlannerParameters (  const void *  param  ) 
 

Definition at line 156 of file ServerBase.cpp.

References planner, and PlannerBase::SetParameters().

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void ServerBase::SetRootPath (  const char *  path  ) 
 

Definition at line 1231 of file ServerBase.cpp.

References rootpath.

bool ServerBase::SetSmoother (  SmootherType  smootherType  ) 
 

Definition at line 884 of file ServerBase.cpp.

References RefreshSmoother().

Referenced by ServerBase().

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Member Data Documentation

CD_BasicStyle* ServerBase::collisionDetector
 

Definition at line 111 of file ServerBase.h.

Referenced by Server::Plan(), RefreshCollisionDetector(), RefreshPlanner(), Server::SpecifyCollisionDetector(), and ~ServerBase().

CollisionDetectorType ServerBase::collisionDetectorType [protected]
 

Definition at line 152 of file ServerBase.h.

Referenced by GetCollisionDetectorType(), Server::Plan(), and RefreshCollisionDetector().

char ServerBase::filename[256] [protected]
 

Definition at line 154 of file ServerBase.h.

Referenced by GetRobotFilename(), RefreshRobotFile(), and ServerBase().

Vector4 ServerBase::m_CameraLookat
 

Definition at line 139 of file ServerBase.h.

Referenced by OpenExampleFile().

Vector4 ServerBase::m_CameraPosition
 

Definition at line 138 of file ServerBase.h.

Referenced by OpenExampleFile().

Vector4 ServerBase::m_CameraUp
 

Definition at line 140 of file ServerBase.h.

Referenced by OpenExampleFile().

Vector4 ServerBase::m_CspaceCameraLookat
 

Definition at line 142 of file ServerBase.h.

Referenced by ParseCspaceCamera().

Vector4 ServerBase::m_CspaceCameraPosition
 

Definition at line 141 of file ServerBase.h.

Referenced by ParseCspaceCamera().

Vector4 ServerBase::m_CspaceCameraUp
 

Definition at line 143 of file ServerBase.h.

Referenced by ParseCspaceCamera().

Configuration ServerBase::m_CurrentConfig
 

Definition at line 131 of file ServerBase.h.

Referenced by Server::ConfigureRobot(), OpenExampleFile(), and Server::Server().

Configuration ServerBase::m_GoalConfig
 

Definition at line 132 of file ServerBase.h.

Referenced by Server::GoalConfig(), OpenExampleFile(), and Server::Plan().

PA_Points ServerBase::m_Path
 

Definition at line 144 of file ServerBase.h.

Referenced by OpenExampleFile().

Configuration ServerBase::m_StartConfig
 

Definition at line 133 of file ServerBase.h.

Referenced by OpenExampleFile(), Server::Plan(), Server::Server(), and Server::StartConfig().

char ServerBase::obstacleFilename[256] [protected]
 

Definition at line 156 of file ServerBase.h.

Referenced by GetObstacleFilename(), and ServerBase().

PL_HasCollisionDetector* ServerBase::planner
 

Definition at line 117 of file ServerBase.h.

Referenced by GetPlannerParameters(), OpenExampleFile(), ParseGoalFrames(), Server::Plan(), RefreshPlanner(), RefreshSmoother(), Server::SendPath(), SetPlannerParameters(), Server::SpecifyCollisionDetector(), and ~ServerBase().

PlannerType ServerBase::plannerType [protected]
 

Definition at line 157 of file ServerBase.h.

Referenced by GetPlannerType(), and RefreshPlanner().

bool ServerBase::planPassed [protected]
 

Definition at line 153 of file ServerBase.h.

Referenced by Server::Plan(), and Server::SendPath().

char ServerBase::rootpath[256] [protected]
 

Definition at line 155 of file ServerBase.h.

Referenced by ParseObstacleFile(), ParseRobotFile(), ServerBase(), and SetRootPath().

SmootherBase* ServerBase::smoother
 

Definition at line 119 of file ServerBase.h.

Referenced by RefreshSmoother(), and ~ServerBase().

SmootherType ServerBase::smootherType [protected]
 

Definition at line 158 of file ServerBase.h.

Referenced by GetSmootherType().

GL_Universe ServerBase::universe
 

Definition at line 125 of file ServerBase.h.

Referenced by AddObstacle(), GetRobot(), OpenExampleFile(), ParseObstacleFile(), R_ThreeCylinderRobot(), RefreshCollisionDetector(), and RefreshRobotFile().

std::vector<Matrix4x4> ServerBase::userObstacles [protected]
 

Definition at line 161 of file ServerBase.h.

Referenced by AddObstacle().

The documentation for this class was generated from the following files:
Generated on Sat Apr 1 22:04:37 2006 for Motion Planning Kernel by  doxygen 1.4.6-NO