PL_Sandros Class Reference

#include <planners/sandros/PL_Sandros.h>

Inheritance diagram for PL_Sandros:

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Public Member Functions
	PL_Sandros ()
virtual	~PL_Sandros ()
virtual bool	Plan ()
virtual bool	Save (const char *filename) const
virtual bool	Load (const char *filename)
virtual bool	DrawExplicit () const
virtual void	SetStartConfig (const Configuration &config)
virtual void	SetGoalConfig (const Configuration &config)
virtual void	SetCollisionDetector (CD_BasicStyle *collisionDetector)
virtual void	ClearGraph ()
int	GetRefinedNode (int i)
void	SetValue (int m_Grid, int m_Neighbor, int m_Tolerance)
Protected Member Functions
void	ConstructGraph ()
bool	SearchForSequence (node_list &L)
double	DistanceSandros (const node &n1, const node &n2)
void	InitailizeGraph ()
void	DealwithSequence (const node_list &L)
edge	FindEdgeBetweenTwoNodes (const node &n1, const node &n2)
void	SaveSandrosPath (const node_list &L)
node	GenerateNewNode (int res, const node n1)
bool	IsInterferingSan (const Configuration &n1, const node &n2, Configuration &p)
bool	IsNeighber (const node &n3, const node &n2)
node	GenerateNewNodeGrid (int res, const node n1, int no)
node	FindNextNodeToRefined ()
bool	IsNeighberSan (const Configuration &c1, const node &n2)
Protected Attributes
SuccessResultType	plan_success
BOOL	m_bNoOtherSequence
BOOL	m_bResolutionLimit
node_pq< int > *	m_quenQ
node_map< node >	m_nodePs
queue< node > *	m_quenQ1
node_map< node >	m_nodePt
node_map< int >	m_refine_level
node_map< bool >	m_nodeInPsIsland
node_map< Configuration >	m_nodeInUPs
node_map< NodeInUVorPsPt >	m_nodeUVPsPt
edge_map< bool >	m_bEdgeHiden
edge_array< double >	m_c
int	Tolerance
int	seedofa
int	dof
int	current_res
double	ThreshHold
double	stride
int	nextNo
Configuration	NodeRefinedc
node	NodeRefined

Detailed Description

Definition at line 39 of file PL_Sandros.h.

Constructor & Destructor Documentation

PL_Sandros::PL_Sandros ( )

Definition at line 393 of file PL_Sandros.cpp.
References ClearGraph(), current_res, FAIL, m_bResolutionLimit, nextNo, NodeRefined, plan_success, seedofa, stride, ThreshHold, and Tolerance.
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PL_Sandros::~PL_Sandros ( ) [virtual]

Definition at line 50 of file PL_Sandros.cpp.

Member Function Documentation

void PL_Sandros::ClearGraph ( ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 561 of file PL_Sandros.cpp.
References PL_GraphBase::ClearGraph().
Referenced by PL_Sandros(), and SetStartConfig().
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void PL_Sandros::ConstructGraph ( ) [protected]

Definition at line 636 of file PL_Sandros.cpp.
References current_res, dof, FindNextNodeToRefined(), for_allnodes_inPs, PL_GraphBase::G, m_bEdgeHiden, m_bResolutionLimit, m_nodeInPsIsland, m_nodeInUPs, m_nodePs, m_nodeUVPsPt, m_quenQ, m_refine_level, NodeInPs, NodeRefined, NodeRefinedc, stride, ThreshHold, and Tolerance.
Referenced by Plan().
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void PL_Sandros::DealwithSequence ( const node_list & L ) [protected]

Definition at line 503 of file PL_Sandros.cpp.
References FindEdgeBetweenTwoNodes(), PL_GraphBase::G, PL_GraphBase::goalNode, PL_GraphBase::IsInterfering(), IsInterferingSan(), m_bEdgeHiden, m_nodeInUPs, m_nodePs, m_nodeUVPsPt, m_quenQ, m_refine_level, NodeInPs, PASS, and plan_success.
Referenced by Plan().
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double PL_Sandros::DistanceSandros ( const node & n1,

const node & n2

) [protected]

Definition at line 908 of file PL_Sandros.cpp.
References dof, and PL_GraphBase::G.

bool PL_Sandros::DrawExplicit ( ) const [virtual]

Reimplemented from PL_GraphBase.
Definition at line 567 of file PL_Sandros.cpp.
References Semaphore::Lock(), and Semaphore::Unlock().
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edge PL_Sandros::FindEdgeBetweenTwoNodes ( const node & n1,

const node & n2

) [protected]

Definition at line 491 of file PL_Sandros.cpp.
References PL_GraphBase::G.
Referenced by DealwithSequence().

node PL_Sandros::FindNextNodeToRefined ( ) [protected]

Definition at line 601 of file PL_Sandros.cpp.
References m_quenQ.
Referenced by ConstructGraph().

node PL_Sandros::GenerateNewNode ( int res,

const node n1

) [protected]

Definition at line 254 of file PL_Sandros.cpp.
References PL_HasCollisionDetector::collisionDetector, dof, PL_GraphBase::G, CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), and VectorN::SetLength().
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node PL_Sandros::GenerateNewNodeGrid ( int res,

const node n1,

int no

) [protected]

Definition at line 210 of file PL_Sandros.cpp.
References CD_BasicStyle::ActivateFrames(), PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DeactivateFrames(), dof, PL_GraphBase::G, PL_GraphBase::IsInterfering(), CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), nextNo, seedofa, VectorN::SetLength(), and stride.
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int PL_Sandros::GetRefinedNode ( int i )

Definition at line 55 of file PL_Sandros.cpp.
References dof, NodeRefined, and NodeRefinedc.

void PL_Sandros::InitailizeGraph ( ) [protected]

Definition at line 287 of file PL_Sandros.cpp.
References dof, and VectorN::SetLength().
Referenced by Plan().
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bool PL_Sandros::IsInterferingSan ( const Configuration & n1,

const node & n2,

Configuration & p

) [protected]

Definition at line 894 of file PL_Sandros.cpp.
References dof, and PL_GraphBase::G.
Referenced by DealwithSequence().

bool PL_Sandros::IsNeighber ( const node & n3,

const node & n2

) [protected]

Definition at line 842 of file PL_Sandros.cpp.
References dof, and PL_GraphBase::G.

bool PL_Sandros::IsNeighberSan ( const Configuration & c1,

const node & n2

) [protected]

Definition at line 868 of file PL_Sandros.cpp.
References dof, and PL_GraphBase::G.

bool PL_Sandros::Load ( const char * filename ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 359 of file PL_Sandros.cpp.
References Semaphore::Lock(), and Semaphore::Unlock().
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bool PL_Sandros::Plan ( ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 74 of file PL_Sandros.cpp.
References PL_HasCollisionDetector::collisionDetector, ConstructGraph(), DealwithSequence(), CD_BasicStyle::DOF(), dof, FAIL, PL_GraphBase::goalNode, PL_GraphBase::graphPath, PlannerBase::guid, InitailizeGraph(), Semaphore::Lock(), m_bNoOtherSequence, m_bResolutionLimit, PASS, plan_success, SaveSandrosPath(), SearchForSequence(), PL_GraphBase::startNode, PlannerBase::StartTimer(), PL_GraphBase::TranslatePath(), and Semaphore::Unlock().
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bool PL_Sandros::Save ( const char * filename ) const [virtual]

Reimplemented from PL_GraphBase.
Definition at line 336 of file PL_Sandros.cpp.

void PL_Sandros::SaveSandrosPath ( const node_list & L ) [protected]

Definition at line 172 of file PL_Sandros.cpp.
References PA_Points::AppendPoint(), PA_Points::AppendPointToBeginning(), PA_Points::Clear(), PL_GraphBase::G, PL_GraphBase::goalNode, PL_GraphBase::IsInterfering(), m_nodeInUPs, m_nodePs, m_nodeUVPsPt, NodeInPt, PL_Boolean_Output::path, and PL_GraphBase::startNode.
Referenced by Plan().
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bool PL_Sandros::SearchForSequence ( node_list & L ) [protected]

Definition at line 933 of file PL_Sandros.cpp.
References dof, for_allnodes_inPsNoIsland, PL_GraphBase::G, PL_GraphBase::goalNode, m_c, m_nodeUVPsPt, and NodeInPs.
Referenced by Plan().

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

Reimplemented from PL_GraphBase.
Definition at line 486 of file PL_Sandros.cpp.
References PL_HasCollisionDetector::collisionDetector, and PL_GraphBase::SetCollisionDetector().
Referenced by ServerBase::RefreshPlanner().
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void PL_Sandros::SetGoalConfig ( const Configuration & config ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 458 of file PL_Sandros.cpp.
References FAIL, PL_GraphBase::G, PlannerBase::GetGoalConfig(), PL_GraphBase::goalNode, PL_GraphBase::IsInterfering(), plan_success, and PL_GraphBase::SetGoalConfig().
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void PL_Sandros::SetStartConfig ( const Configuration & config ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 409 of file PL_Sandros.cpp.
References ClearGraph(), FAIL, PL_GraphBase::G, PlannerBase::GetGoalConfig(), PlannerBase::GetStartConfig(), PL_GraphBase::goalNode, PL_GraphBase::IsInterfering(), plan_success, PL_GraphBase::SetGoalConfig(), PL_GraphBase::SetStartConfig(), and PL_GraphBase::startNode.
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void PL_Sandros::SetValue ( int m_Grid,

int m_Neighbor,

int m_Tolerance

)

Definition at line 281 of file PL_Sandros.cpp.
References stride, ThreshHold, and Tolerance.

Member Data Documentation

int PL_Sandros::current_res [protected]

Definition at line 101 of file PL_Sandros.h.
Referenced by ConstructGraph(), and PL_Sandros().

int PL_Sandros::dof [protected]

Definition at line 100 of file PL_Sandros.h.
Referenced by ConstructGraph(), DistanceSandros(), GenerateNewNode(), GenerateNewNodeGrid(), GetRefinedNode(), InitailizeGraph(), IsInterferingSan(), IsNeighber(), IsNeighberSan(), Plan(), and SearchForSequence().

edge_map<bool> PL_Sandros::m_bEdgeHiden [protected]

Definition at line 93 of file PL_Sandros.h.
Referenced by ConstructGraph(), and DealwithSequence().

BOOL PL_Sandros::m_bNoOtherSequence [protected]

Definition at line 76 of file PL_Sandros.h.
Referenced by Plan().

BOOL PL_Sandros::m_bResolutionLimit [protected]

Definition at line 77 of file PL_Sandros.h.
Referenced by ConstructGraph(), PL_Sandros(), and Plan().

edge_array<double> PL_Sandros::m_c [protected]

Definition at line 95 of file PL_Sandros.h.
Referenced by SearchForSequence().

node_map<bool> PL_Sandros::m_nodeInPsIsland [protected]

Definition at line 88 of file PL_Sandros.h.
Referenced by ConstructGraph().

node_map<Configuration> PL_Sandros::m_nodeInUPs [protected]

Definition at line 90 of file PL_Sandros.h.
Referenced by ConstructGraph(), DealwithSequence(), and SaveSandrosPath().

node_map<node> PL_Sandros::m_nodePs [protected]

Definition at line 83 of file PL_Sandros.h.
Referenced by ConstructGraph(), DealwithSequence(), and SaveSandrosPath().

node_map<node> PL_Sandros::m_nodePt [protected]

Definition at line 86 of file PL_Sandros.h.

node_map<NodeInUVorPsPt> PL_Sandros::m_nodeUVPsPt [protected]

Definition at line 92 of file PL_Sandros.h.
Referenced by ConstructGraph(), DealwithSequence(), SaveSandrosPath(), and SearchForSequence().

node_pq<int>* PL_Sandros::m_quenQ [protected]

Definition at line 80 of file PL_Sandros.h.
Referenced by ConstructGraph(), DealwithSequence(), and FindNextNodeToRefined().

queue<node>* PL_Sandros::m_quenQ1 [protected]

Definition at line 84 of file PL_Sandros.h.

node_map<int> PL_Sandros::m_refine_level [protected]

Definition at line 87 of file PL_Sandros.h.
Referenced by ConstructGraph(), and DealwithSequence().

int PL_Sandros::nextNo [protected]

Definition at line 104 of file PL_Sandros.h.
Referenced by GenerateNewNodeGrid(), and PL_Sandros().

node PL_Sandros::NodeRefined [protected]

Definition at line 106 of file PL_Sandros.h.
Referenced by ConstructGraph(), GetRefinedNode(), and PL_Sandros().

Configuration PL_Sandros::NodeRefinedc [protected]

Definition at line 105 of file PL_Sandros.h.
Referenced by ConstructGraph(), and GetRefinedNode().

SuccessResultType PL_Sandros::plan_success [protected]

Definition at line 75 of file PL_Sandros.h.
Referenced by DealwithSequence(), PL_Sandros(), Plan(), SetGoalConfig(), and SetStartConfig().

int PL_Sandros::seedofa [protected]

Definition at line 99 of file PL_Sandros.h.
Referenced by GenerateNewNodeGrid(), and PL_Sandros().

double PL_Sandros::stride [protected]

Definition at line 103 of file PL_Sandros.h.
Referenced by ConstructGraph(), GenerateNewNodeGrid(), PL_Sandros(), and SetValue().

double PL_Sandros::ThreshHold [protected]

Definition at line 102 of file PL_Sandros.h.
Referenced by ConstructGraph(), PL_Sandros(), and SetValue().

int PL_Sandros::Tolerance [protected]

Definition at line 98 of file PL_Sandros.h.
Referenced by ConstructGraph(), PL_Sandros(), and SetValue().

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

planners/sandros/PL_Sandros.h
planners/sandros/PL_Sandros.cpp

Generated on Sat Apr 1 22:01:53 2006 for Motion Planning Kernel by

1.4.6-NO

PL_Sandros Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation