PL_GraphBase Class Reference

#include <planners/PL_GraphBase.h>

Inherits PL_Boolean_Output, and PL_OpenGL.

Inherited by IK_ACA [virtual], PL_Astar, PL_PRM, and PL_Sandros.

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List of all members.

Public Member Functions

 PL_GraphBase ()
virtual ~PL_GraphBase ()
virtual bool DrawExplicit () const
virtual bool Load (const char *filename)
virtual bool Plan ()
bool Save (const char *filename) const
virtual void SetStartConfig (const Configuration &configuration)
virtual void SetGoalConfig (const Configuration &config)
virtual void SetCollisionDetector (CD_BasicStyle *collisionDetector)
int NodeCount () const
int EdgeCount () const
virtual void ClearGraph ()
void ClearGraphPath ()
void NormDistWeight ()
virtual void SetDistWeight (const VectorN &weights)
VectorN GetDistWeight () const
void CopySettings (PlannerBase *original)

Protected Member Functions

virtual double Distance (const node &a, const node &b) const
virtual double Distance (const Configuration &a, const Configuration &b) const
virtual double Distance (const node &a, const node &b, const VectorN &weight) const
virtual double Distance (const Configuration &a, const Configuration &b, const VectorN &weight) const
virtual VectorN DiffV (const node &a, const node &b) const
virtual VectorN DiffV (const Configuration &a, const Configuration &b) const
double Length (const edge &e1) const
double Measure (const edge &e1) const
double Measure (const edge &e1, const VectorN &weight) const
double GetCspaceRange (const VectorN &weight) const
double GetCspaceRange () const
node FindConfig (const Configuration &c1) const
edge FindEdge (const node &n1, const node &n2) const
virtual Configuration GenerateRandomConfig ()
virtual Configuration GenerateRandomConfig (const Configuration &seed, const double &std_dev)
virtual Configuration GenerateRandomConfig (const Configuration &centre)
virtual bool IsInterfering (const edge &e1)
virtual bool IsInterfering (const node &n1)
virtual bool IsInterfering (const Configuration &c1)
virtual bool IsInterfering (const node &n1, const node &n2)
virtual bool IsInterfering (const Configuration &c1, const Configuration &c2)
void GetCoords (const node n1, double &Xcor, double &Ycor, double &Zcor) const
void GetCoords (const Configuration &c1, double &Xcor, double &Ycor, double &Zcor) const
virtual bool DrawSpecific () const
bool PrioritizeEdge (node prev, node curr)
bool PrioritizeEdge (node source, edge e1)
Configuration GetMidPoint (const Configuration &a, const Configuration &b) const
virtual SuccessResultType TranslatePath ()
virtual bool SaveContents (std::ofstream &outfile) const
virtual bool LoadContents (std::ifstream &infile)
node TranslateNodeID (const int &nodeID) const

Protected Attributes

GRAPH< Configuration, double > G
node startNode
node goalNode
node_list graphPath
VectorN distWeight
char fileext [10]
char fileheader [20]

Static Protected Attributes

static const int NIL_ID = -1

Detailed Description

Definition at line 34 of file PL_GraphBase.h.

Constructor & Destructor Documentation

PL_GraphBase::PL_GraphBase (   ) 
 

Definition at line 43 of file PL_GraphBase.cpp.

References ClearGraph(), FILEEXT, fileext, FILEHEADER, fileheader, and NormDistWeight().

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PL_GraphBase::~PL_GraphBase (   )  [virtual]
 

Definition at line 62 of file PL_GraphBase.cpp.

Member Function Documentation

void PL_GraphBase::ClearGraph (   )  [virtual]
 

Reimplemented in PL_Astar, and PL_Sandros.

Definition at line 402 of file PL_GraphBase.cpp.

References G.

Referenced by PL_Sandros::ClearGraph(), PL_Astar::ClearGraph(), PL_GraphBase(), SetDistWeight(), PL_PRM::SetGraphMode(), IK_ACA::SetStartConfig(), and PL_RGD_Constraint::SetStrategy().

void PL_GraphBase::ClearGraphPath (   ) 
 

Definition at line 419 of file PL_GraphBase.cpp.

References graphPath.

Referenced by IK_ACA::ComputePath(), PL_Astar::InitNewSearch(), and IK_ACA::Plan().

void PL_GraphBase::CopySettings (  PlannerBase *  original  ) 
 

Reimplemented from PlannerBase.

Reimplemented in PL_Astar, IK_ACA, and PL_PRM.

Definition at line 1204 of file PL_GraphBase.cpp.

References distWeight.

Referenced by PL_PRM::CopySettings(), IK_ACA::CopySettings(), and PL_Astar::CopySettings().

VectorN PL_GraphBase::DiffV (  const Configuration &  a,
const Configuration &  b
)  const [protected, virtual]
 

Definition at line 487 of file PL_GraphBase.cpp.

VectorN PL_GraphBase::DiffV (  const node &  a,
const node &  b
)  const [protected, virtual]
 

Definition at line 480 of file PL_GraphBase.cpp.

double PL_GraphBase::Distance (  const Configuration &  a,
const Configuration &  b,
const VectorN &  weight
)  const [protected, virtual]
 

Definition at line 458 of file PL_GraphBase.cpp.

References VectorN::Length(), and Sqr().

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double PL_GraphBase::Distance (  const node &  a,
const node &  b,
const VectorN &  weight
)  const [protected, virtual]
 

Definition at line 444 of file PL_GraphBase.cpp.

double PL_GraphBase::Distance (  const Configuration &  a,
const Configuration &  b
)  const [protected, virtual]
 

Definition at line 451 of file PL_GraphBase.cpp.

double PL_GraphBase::Distance (  const node &  a,
const node &  b
)  const [protected, virtual]
 

Definition at line 437 of file PL_GraphBase.cpp.

Referenced by PL_PRM::Astar_f(), PL_Astar::Astar_f(), PL_PRM::ConnectEdgesFull(), PL_PRM_ClosedBase::ConnectEdgesFull(), PL_RGD_PRM::ConnectEdgesFull(), PL_PRM_ClosedChain::ConnectEdgesFull(), PL_PRM::ConnectEdgesLazy(), IK_ACA::Explore(), PL_PRM_ClosedAPDecomp::IsInterfering(), PL_PRM_ClosedRGD::IsInterfering(), PL_RGD_PRM::IsInterfering(), PL_PRM_ClosedChain::IsInterfering(), and PL_Astar::SetGoalConfig().

bool PL_GraphBase::DrawExplicit (   )  const [virtual]
 

Reimplemented from PL_OpenGL.

Reimplemented in PL_RGD_RRT, PL_RGD_Constraint, PL_RRT_ClosedChain, PL_RRT_ClosedChain, IK_ACA, PL_PRM, and PL_Sandros.

Definition at line 73 of file PL_GraphBase.cpp.

References Color::cyan, DrawSpecific(), G, GetCoords(), goalNode, graphPath, Semaphore::Lock(), Color::orange, Color::red, startNode, and Color::yellow.

Referenced by IK_ACA::DrawExplicit().

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bool PL_GraphBase::DrawSpecific (   )  const [protected, virtual]
 

Reimplemented in IK_ACA.

Definition at line 884 of file PL_GraphBase.cpp.

Referenced by PL_PRM::DrawExplicit(), and DrawExplicit().

int PL_GraphBase::EdgeCount (   )  const [inline]
 

Definition at line 64 of file PL_GraphBase.h.

References G.

node PL_GraphBase::FindConfig (  const Configuration &  c1  )  const [protected]
 

Definition at line 608 of file PL_GraphBase.cpp.

References COMPTOL.

Referenced by LoadContents(), SetGoalConfig(), and SetStartConfig().

edge PL_GraphBase::FindEdge (  const node &  n1,
const node &  n2
)  const [protected]
 

Definition at line 629 of file PL_GraphBase.cpp.

Configuration PL_GraphBase::GenerateRandomConfig (  const Configuration &  centre  )  [protected, virtual]
 

Definition at line 701 of file PL_GraphBase.cpp.

References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DOF(), CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), and VectorN::SetLength().

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Configuration PL_GraphBase::GenerateRandomConfig (  const Configuration &  seed,
const double &  std_dev
)  [protected, virtual]
 

Reimplemented in PL_RGD_PRM, and PL_PRM_ClosedBase.

Definition at line 800 of file PL_GraphBase.cpp.

References PL_HasCollisionDetector::collisionDetector, distWeight, Configuration::DOF(), CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), RandNorm(), and VectorN::SetLength().

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Configuration PL_GraphBase::GenerateRandomConfig (   )  [protected, virtual]
 

Reimplemented in PL_RGD_PRM, and PL_PRM_ClosedBase.

Definition at line 665 of file PL_GraphBase.cpp.

References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DOF(), CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), and VectorN::SetLength().

Referenced by PL_PRM::AddNode(), IK_ACA::CreateEmbryo(), PL_PRM::EnhanceRoadMap(), PL_PRM_ClosedBase::GenerateRandomConfig(), PL_RGD_PRM::GenerateRandomConfig(), PL_PRM_ClosedChain::GenerateRandomConfig(), PL_RGD_PRM::GenerateRandomConfigForPose(), PL_PRM_ClosedChain::GenerateRandomConfigForPose(), PL_PRM_ClosedChain::GetClosedConfiguration(), PL_RGD_PRM::GetSatisfactoryConfiguration(), PL_PRM_ClosedChain::GetSatisfactoryConfiguration(), PL_RGD_PRM::GetSatisfiedConfiguration(), PL_PRM_ClosedRGD::MakeItClosed(), PL_PRM_ClosedChain::MakeItClosed(), and PL_RGD_PRM::MakeItSatisfied().

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void PL_GraphBase::GetCoords (  const Configuration &  c1,
double &  Xcor,
double &  Ycor,
double &  Zcor
)  const [protected]
 

Definition at line 901 of file PL_GraphBase.cpp.

void PL_GraphBase::GetCoords (  const node  n1,
double &  Xcor,
double &  Ycor,
double &  Zcor
)  const [protected]
 

Definition at line 895 of file PL_GraphBase.cpp.

Referenced by PL_PRM::DrawExplicit(), DrawExplicit(), and IK_ACA::DrawSpecific().

double PL_GraphBase::GetCspaceRange (   )  const [protected]
 

Definition at line 592 of file PL_GraphBase.cpp.

References distWeight.

Referenced by PL_PRM::Plan(), PL_RGD_PRM::Plan_As_Usual(), PL_PRM_ClosedChain::Plan_As_Usual(), and PL_PRM::SetCollisionDetector().

double PL_GraphBase::GetCspaceRange (  const VectorN &  weight  )  const [protected]
 

Definition at line 552 of file PL_GraphBase.cpp.

References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DOF(), CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), CD_BasicStyle::JointWraps(), and Configuration::SetNumDOF().

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VectorN PL_GraphBase::GetDistWeight (   )  const [inline]
 

Definition at line 73 of file PL_GraphBase.h.

References distWeight.

Configuration PL_GraphBase::GetMidPoint (  const Configuration &  a,
const Configuration &  b
)  const [protected]
 

Definition at line 1152 of file PL_GraphBase.cpp.

References PL_HasCollisionDetector::collisionDetector, and CD_JointLimits::JointDisplacement().

Referenced by PL_PRM::ConnectEdgesFull(), PL_PRM_ClosedBase::ConnectEdgesFull(), PL_RGD_PRM::ConnectEdgesFull(), PL_PRM_ClosedChain::ConnectEdgesFull(), PL_PRM::ConnectEdgesLazy(), and IK_ACA::CreateEmbryo().

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bool PL_GraphBase::IsInterfering (  const Configuration &  c1,
const Configuration &  c2
)  [protected, virtual]
 

Reimplemented in PL_RGD_PRM, PL_PRM_ClosedBase, PL_PRM_ClosedRGD, PL_PRM_ClosedLocalJacobian, PL_PRM_ClosedJacobian, PL_PRM_ClosedAPDecomp, and PL_PRM_ClosedChain.

Definition at line 856 of file PL_GraphBase.cpp.

References PL_HasCollisionDetector::collisionDetector, and CD_Linear::IsInterferingLinear().

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bool PL_GraphBase::IsInterfering (  const node &  n1,
const node &  n2
)  [protected, virtual]
 

Definition at line 850 of file PL_GraphBase.cpp.

References G, and IsInterfering().

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bool PL_GraphBase::IsInterfering (  const Configuration &  c1  )  [protected, virtual]
 

Reimplemented in PL_RGD_PRM, and PL_PRM_ClosedBase.

Definition at line 868 of file PL_GraphBase.cpp.

References PL_HasCollisionDetector::collisionDetector, and CD_Bool::IsInterfering().

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bool PL_GraphBase::IsInterfering (  const node &  n1  )  [protected, virtual]
 

Definition at line 862 of file PL_GraphBase.cpp.

References G, and IsInterfering().

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bool PL_GraphBase::IsInterfering (  const edge &  e1  )  [protected, virtual]
 

Definition at line 844 of file PL_GraphBase.cpp.

References G.

Referenced by PL_PRM::AddNode(), PL_PRM::ConnectEdgesFull(), PL_PRM::ConnectEdgesLazy(), IK_ACA::CreateEmbryo(), PL_Sandros::DealwithSequence(), PL_PRM::EnhanceRoadMap(), PL_Sandros::GenerateNewNodeGrid(), IsInterfering(), PL_PRM_ClosedAPDecomp::IsInterfering(), PL_PRM_ClosedRGD::IsInterfering(), PL_PRM_ClosedJacobian::IsInterfering(), PL_PRM_ClosedBase::IsInterfering(), PL_RGD_PRM::IsInterfering(), PL_PRM_ClosedChain::IsInterfering(), PL_PRM::Plan(), IK_ACA::Plan(), PL_RGD_PRM::Plan_As_Usual(), PL_PRM_ClosedChain::Plan_As_Usual(), PL_Sandros::SaveSandrosPath(), IK_ACA::Search(), PL_Sandros::SetGoalConfig(), PL_Astar::SetGoalConfig(), PL_Sandros::SetStartConfig(), PL_Astar::SetStartConfig(), and PL_RRT_ClosedChain::TestRGDConnection().

double PL_GraphBase::Length (  const edge &  e1  )  const [protected]
 

Definition at line 503 of file PL_GraphBase.cpp.

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

Reimplemented from PlannerBase.

Reimplemented in IK_ACA, and PL_Sandros.

Definition at line 211 of file PL_GraphBase.cpp.

References fileext, Semaphore::Lock(), and Semaphore::Unlock().

Referenced by IK_ACA::Load().

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bool PL_GraphBase::LoadContents (  std::ifstream &  infile  )  [protected, virtual]
 

Reimplemented in PL_Astar, IK_ACA, and PL_PRM.

Definition at line 268 of file PL_GraphBase.cpp.

References distWeight, FindConfig(), G, PlannerBase::GetGoalConfig(), PlannerBase::GetStartConfig(), goalNode, SetGoalConfig(), SetStartConfig(), and startNode.

Referenced by PL_PRM::LoadContents(), IK_ACA::LoadContents(), and PL_Astar::LoadContents().

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double PL_GraphBase::Measure (  const edge &  e1,
const VectorN &  weight
)  const [protected]
 

Definition at line 509 of file PL_GraphBase.cpp.

double PL_GraphBase::Measure (  const edge &  e1  )  const [protected]
 

Definition at line 515 of file PL_GraphBase.cpp.

int PL_GraphBase::NodeCount (   )  const [inline]
 

Definition at line 63 of file PL_GraphBase.h.

References G.

Referenced by PL_PRM::BuildInitRoadMap(), and PL_Astar::SetGoalConfig().

void PL_GraphBase::NormDistWeight (   ) 
 

Definition at line 528 of file PL_GraphBase.cpp.

References PL_HasCollisionDetector::collisionDetector, distWeight, CD_BasicStyle::DOF(), and VectorN::SetLength().

Referenced by PL_GraphBase(), and SetCollisionDetector().

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bool PL_GraphBase::Plan (   )  [virtual]
 

Implements PlannerBase.

Reimplemented in PL_Astar, PL_PRM_ClosedChain, PL_RGD_PRM, PL_RGD_RRT, PL_RGD_Constraint, PL_RRT_ClosedChain, PL_PRM_ClosedBase, PL_PRM_ClosedLocalJacobian, PL_PRM_ClosedChain, PL_RRT_ClosedChain, IK_ACA, PL_PRM, and PL_Sandros.

Definition at line 308 of file PL_GraphBase.cpp.

bool PL_GraphBase::PrioritizeEdge (  node  source,
edge  e1
)  [protected]
 

Definition at line 1068 of file PL_GraphBase.cpp.

References FALSE, G, and TRUE.

bool PL_GraphBase::PrioritizeEdge (  node  prev,
node  curr
)  [protected]
 

Definition at line 1106 of file PL_GraphBase.cpp.

References FALSE, G, and TRUE.

bool PL_GraphBase::Save (  const char *  filename  )  const [virtual]
 

Reimplemented from PlannerBase.

Reimplemented in IK_ACA, and PL_Sandros.

Definition at line 319 of file PL_GraphBase.cpp.

References fileext, Semaphore::Lock(), and Semaphore::Unlock().

Referenced by IK_ACA::Save().

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bool PL_GraphBase::SaveContents (  std::ofstream &  outfile  )  const [protected, virtual]
 

Reimplemented in PL_Astar, IK_ACA, and PL_PRM.

Definition at line 361 of file PL_GraphBase.cpp.

References distWeight, G, PlannerBase::GetGoalConfig(), PlannerBase::GetStartConfig(), goalNode, NIL_ID, and startNode.

Referenced by PL_PRM::SaveContents(), IK_ACA::SaveContents(), and PL_Astar::SaveContents().

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

Reimplemented from PL_HasCollisionDetector.

Reimplemented in PL_Astar, PL_PRM_ClosedChain, PL_RGD_PRM, PL_RRT_ClosedChain, PL_PRM_ClosedLocalJacobian, PL_PRM_ClosedJacobian, PL_PRM_ClosedAPDecomp, PL_PRM_ClosedChain, PL_RRT_ClosedChain, PL_PRM, and PL_Sandros.

Definition at line 1014 of file PL_GraphBase.cpp.

References PL_HasCollisionDetector::collisionDetector, distWeight, CD_BasicStyle::DOF(), VectorN::Length(), NormDistWeight(), and PL_HasCollisionDetector::SetCollisionDetector().

Referenced by PL_Sandros::SetCollisionDetector(), PL_PRM::SetCollisionDetector(), IK_ACA::SetCollisionDetector(), and PL_Astar::SetCollisionDetector().

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void PL_GraphBase::SetDistWeight (  const VectorN &  weights  )  [virtual]
 

Definition at line 1041 of file PL_GraphBase.cpp.

References ClearGraph(), and distWeight.

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void PL_GraphBase::SetGoalConfig (  const Configuration &  config  )  [virtual]
 

Reimplemented from PlannerBase.

Reimplemented in PL_Astar, IK_ACA, PL_PRM, and PL_Sandros.

Definition at line 992 of file PL_GraphBase.cpp.

References FindConfig(), G, goalNode, and PlannerBase::SetGoalConfig().

Referenced by IK_ACA::AssignGoalConfig(), LoadContents(), PL_Sandros::SetGoalConfig(), PL_PRM::SetGoalConfig(), PL_Astar::SetGoalConfig(), PL_Sandros::SetStartConfig(), and PL_Astar::SetStartConfig().

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void PL_GraphBase::SetStartConfig (  const Configuration &  configuration  )  [virtual]
 

Reimplemented from PlannerBase.

Reimplemented in PL_Astar, IK_ACA, PL_PRM, and PL_Sandros.

Definition at line 967 of file PL_GraphBase.cpp.

References FindConfig(), G, PlannerBase::SetStartConfig(), and startNode.

Referenced by LoadContents(), PL_Sandros::SetStartConfig(), PL_PRM::SetStartConfig(), IK_ACA::SetStartConfig(), and PL_Astar::SetStartConfig().

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node PL_GraphBase::TranslateNodeID (  const int &  nodeID  )  const [protected]
 

Definition at line 1220 of file PL_GraphBase.cpp.

References G, and NIL_ID.

SuccessResultType PL_GraphBase::TranslatePath (   )  [protected, virtual]
 

Reimplemented in PL_PRM_ClosedChain, PL_RGD_PRM, and PL_PRM_ClosedBase.

Definition at line 1170 of file PL_GraphBase.cpp.

References PA_Points::AppendPoint(), PA_Points::Clear(), FAIL, PlannerBase::GetStartConfig(), graphPath, and PL_Boolean_Output::path.

Referenced by IK_ACA::ComputePath(), PL_Sandros::Plan(), PL_PRM::Plan(), and PL_Astar::Plan().

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Member Data Documentation

VectorN PL_GraphBase::distWeight [protected]
 

Definition at line 188 of file PL_GraphBase.h.

Referenced by CopySettings(), GenerateRandomConfig(), GetCspaceRange(), GetDistWeight(), LoadContents(), NormDistWeight(), SaveContents(), SetCollisionDetector(), and SetDistWeight().

char PL_GraphBase::fileext[10] [protected]
 

Definition at line 192 of file PL_GraphBase.h.

Referenced by IK_ACA::IK_ACA(), Load(), PL_Astar::PL_Astar(), PL_GraphBase(), PL_PRM::PL_PRM(), and Save().

char PL_GraphBase::fileheader[20] [protected]
 

Definition at line 193 of file PL_GraphBase.h.

Referenced by IK_ACA::IK_ACA(), PL_Astar::PL_Astar(), PL_GraphBase(), and PL_PRM::PL_PRM().

GRAPH<Configuration,double> PL_GraphBase::G [protected]
 

Definition at line 176 of file PL_GraphBase.h.

Referenced by PL_PRM::AddNode(), ClearGraph(), PL_Astar::ClearGraph(), IK_ACA::ComputePath(), PL_PRM::ConnectEdgesFull(), PL_PRM_ClosedBase::ConnectEdgesFull(), PL_RGD_PRM::ConnectEdgesFull(), PL_PRM_ClosedChain::ConnectEdgesFull(), PL_PRM::ConnectEdgesLazy(), PL_Sandros::ConstructGraph(), IK_ACA::CreateEmbryo(), PL_Sandros::DealwithSequence(), PL_Sandros::DistanceSandros(), PL_PRM::DrawExplicit(), DrawExplicit(), IK_ACA::DrawSpecific(), EdgeCount(), PL_Astar::ExpandNode(), IK_ACA::Explore(), PL_Sandros::FindEdgeBetweenTwoNodes(), PL_PRM::FindPath(), PL_Sandros::GenerateNewNode(), PL_Sandros::GenerateNewNodeGrid(), IK_ACA::IK_ACA(), PL_Astar::InitNewSearch(), IsInterfering(), PL_Sandros::IsInterferingSan(), PL_Sandros::IsNeighber(), PL_Sandros::IsNeighberSan(), PL_PRM::LoadContents(), LoadContents(), IK_ACA::LoadContents(), PL_Astar::LoadContents(), NodeCount(), PL_PRM::PL_PRM(), PL_PRM_ClosedBase::PL_PRM_ClosedBase(), PL_PRM_ClosedChain::PL_PRM_ClosedChain(), PL_RGD_PRM::PL_RGD_PRM(), IK_ACA::Plan(), PL_Astar::Plan(), PrioritizeEdge(), PL_PRM::SaveContents(), SaveContents(), IK_ACA::SaveContents(), PL_Astar::SaveContents(), PL_Sandros::SaveSandrosPath(), IK_ACA::Search(), IK_ACA::Search1(), PL_Sandros::SearchForSequence(), IK_ACA::SetEmbryosPerLandmark(), PL_Sandros::SetGoalConfig(), PL_PRM::SetGoalConfig(), SetGoalConfig(), PL_Astar::SetGoalConfig(), PL_PRM::SetGraphMode(), PL_Sandros::SetStartConfig(), PL_PRM::SetStartConfig(), SetStartConfig(), PL_Astar::SetStartConfig(), and TranslateNodeID().

node PL_GraphBase::goalNode [protected]
 

Definition at line 181 of file PL_GraphBase.h.

Referenced by IK_ACA::AssignGoalConfig(), PL_PRM::Astar_f(), PL_Astar::Astar_f(), PL_Sandros::DealwithSequence(), PL_PRM::DrawExplicit(), DrawExplicit(), PL_PRM::FindPath(), LoadContents(), PL_Sandros::Plan(), PL_PRM::Plan(), IK_ACA::Plan(), PL_Astar::Plan(), PL_RGD_PRM::Plan_As_Usual(), PL_PRM_ClosedChain::Plan_As_Usual(), SaveContents(), PL_Sandros::SaveSandrosPath(), PL_Sandros::SearchForSequence(), PL_Sandros::SetGoalConfig(), PL_PRM::SetGoalConfig(), SetGoalConfig(), PL_Astar::SetGoalConfig(), PL_Sandros::SetStartConfig(), and PL_Astar::SetStartConfig().

node_list PL_GraphBase::graphPath [protected]
 

Definition at line 184 of file PL_GraphBase.h.

Referenced by ClearGraphPath(), IK_ACA::ComputePath(), PL_PRM::DrawExplicit(), DrawExplicit(), PL_PRM::FindPath(), PL_Sandros::Plan(), PL_PRM::Plan(), PL_Astar::Plan(), PL_RGD_PRM::Plan_As_Usual(), PL_PRM_ClosedChain::Plan_As_Usual(), TranslatePath(), PL_PRM_ClosedBase::TranslatePath(), PL_RGD_PRM::TranslatePath(), PL_PRM_ClosedChain::TranslatePath(), and PL_PRM::VerifyPath().

const int PL_GraphBase::NIL_ID = -1 [static, protected]
 

Definition at line 194 of file PL_GraphBase.h.

Referenced by PL_PRM::ConnectEdgesFull(), PL_PRM_ClosedBase::ConnectEdgesFull(), PL_RGD_PRM::ConnectEdgesFull(), PL_PRM_ClosedChain::ConnectEdgesFull(), PL_PRM::LoadContents(), PL_PRM::SaveContents(), SaveContents(), and TranslateNodeID().

node PL_GraphBase::startNode [protected]
 

Definition at line 180 of file PL_GraphBase.h.

Referenced by IK_ACA::ComputePath(), PL_PRM::DrawExplicit(), DrawExplicit(), PL_PRM::FindPath(), IK_ACA::InitBestParams(), IK_ACA::InitNewSearch(), PL_Astar::InitNewSearch(), LoadContents(), PL_Sandros::Plan(), PL_PRM::Plan(), IK_ACA::Plan(), PL_Astar::Plan(), PL_RGD_PRM::Plan_As_Usual(), PL_PRM_ClosedChain::Plan_As_Usual(), SaveContents(), PL_Sandros::SaveSandrosPath(), PL_Sandros::SetStartConfig(), PL_PRM::SetStartConfig(), SetStartConfig(), IK_ACA::SetStartConfig(), and PL_Astar::SetStartConfig().

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