planners/ik_mpep/PL_MPEP.h File Reference

#include "Kinematics/Jacobian.h"
#include "Robots/R_OpenChain.h"
#include "geometry/Frame.h"
#include "kinematics/Configuration.h"
#include "CollisionDetectors/CD_BasicStyle.h"
#include "kinematics/FrameManager.h"
#include "Robots\RobotBase.h"
#include "../inversekin/Redundant.h"
#include "Planners/PL_Boolean_Output.h"
#include "Planners/PL_OpenGL.h"
#include "Planners/PL_GraphBase.h"
#include <LEDA/dynamic_trees.h>

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Classes
struct	Pose_Node
class	PL_MPEP
Defines
#define	DEFAULT_SAMPLE_RATE   10
#define	DEFAULT_TOLERANCE   0.1
#define	DEFAULT_RANDOM_RETRY   150
#define	DEFAULT_EXTEND_RETRY   50
#define	DEFAULT_EXPLORE_RETRY   20
#define	DEFAULT_ITERATION   10
#define	DEFAULT_SMGNODE_NUM   10
#define	ALG_GREEDY_PLANNER   0x00
#define	ALG_RRT_LIKE   0x01
#define	ALG_RRT_CONNECT_LIKE   0x02
#define	ALG_RRT_GREEDY_LIKE   0x03
#define	ALG_RRT_GREED_CONNECT   0x04
#define	ALG_IMP_GREEDY_PLANNER   0x05
#define	ALG_SMG_GREEDY_PLANNER   0x06
#define	ALG_SMG_RRT_PLANNER   0x07
#define	ALG_SMG_CONNECT_PLANNER   0x08
#define	ERROR_OK   0x00
#define	ERROR_GET_RANDOM_CONF_FAILURE   0x01
#define	ERROR_GET_COLLISION_FREE_FAILURE   0x02
#define	ERROR_RRT_EXTEND_FAILURE   0x03
#define	ERROR_START_CONFIG_INVALID   0x04
#define	ERROR_GOAL_CONFIG_INVALID   0x05
#define	ERROR_SMGRAPH_FULL   0x06
#define	ERROR_PLANNING_TIMEOUT   0x0FE
#define	ERROR_UNKNOW_PLANNER   0x0FF
#define	TRAJ_LINE   0x00
#define	TRAJ_SEMICIRCLE   0x01
#define	TRAJ_CIRCLE   0x02

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Define Documentation

#define ALG_GREEDY_PLANNER   0x00

Definition at line 24 of file PL_MPEP.h. Referenced by PL_MPEP::PL_MPEP(), and RRT_TrajPlanner::Plan().

#define ALG_IMP_GREEDY_PLANNER   0x05

Definition at line 29 of file PL_MPEP.h.

#define ALG_RRT_CONNECT_LIKE   0x02

Definition at line 26 of file PL_MPEP.h.

#define ALG_RRT_GREED_CONNECT   0x04

Definition at line 28 of file PL_MPEP.h.

#define ALG_RRT_GREEDY_LIKE   0x03

Definition at line 27 of file PL_MPEP.h.

#define ALG_RRT_LIKE   0x01

Definition at line 25 of file PL_MPEP.h.

#define ALG_SMG_CONNECT_PLANNER   0x08

Definition at line 32 of file PL_MPEP.h.

#define ALG_SMG_GREEDY_PLANNER   0x06

Definition at line 30 of file PL_MPEP.h.

#define ALG_SMG_RRT_PLANNER   0x07

Definition at line 31 of file PL_MPEP.h.

#define DEFAULT_EXPLORE_RETRY   20

Definition at line 17 of file PL_MPEP.h. Referenced by PL_MPEP::PL_MPEP().

#define DEFAULT_EXTEND_RETRY   50

Definition at line 16 of file PL_MPEP.h. Referenced by PL_MPEP::PL_MPEP().

#define DEFAULT_ITERATION   10

Definition at line 18 of file PL_MPEP.h. Referenced by PL_MPEP::PL_MPEP().

#define DEFAULT_RANDOM_RETRY   150

Definition at line 15 of file PL_MPEP.h. Referenced by PL_MPEP::PL_MPEP().

#define DEFAULT_SAMPLE_RATE   10

Definition at line 13 of file PL_MPEP.h.

#define DEFAULT_SMGNODE_NUM   10

Definition at line 19 of file PL_MPEP.h. Referenced by PL_MPEP::PL_MPEP().

#define DEFAULT_TOLERANCE   0.1

Definition at line 14 of file PL_MPEP.h. Referenced by PL_MPEP::PL_MPEP().

#define ERROR_GET_COLLISION_FREE_FAILURE   0x02

Definition at line 36 of file PL_MPEP.h. Referenced by PL_MPEP::Display_Error_Message().

#define ERROR_GET_RANDOM_CONF_FAILURE   0x01

Definition at line 35 of file PL_MPEP.h. Referenced by PL_MPEP::Display_Error_Message().

#define ERROR_GOAL_CONFIG_INVALID   0x05

Definition at line 39 of file PL_MPEP.h. Referenced by PL_MPEP::Display_Error_Message().

#define ERROR_OK   0x00

Definition at line 34 of file PL_MPEP.h. Referenced by PL_MPEP::Establish_Self_Motion_Graph(), PL_MPEP::Plan(), PL_ForTest::Plan(), PL_MPEP::Planner_Greedy(), PL_MPEP::Planner_IMP_Greedy(), PL_MPEP::Planner_RRT_Connect_Like(), PL_MPEP::Planner_RRT_Greedy_Connect(), PL_MPEP::Planner_RRT_Greedy_Like(), PL_MPEP::Planner_RRT_Like(), PL_MPEP::Planner_SMG_Greedy(), PL_MPEP::Planner_SMG_RRT_Connect_Like(), and PL_MPEP::Planner_SMG_RRT_Greedy_Like().

#define ERROR_PLANNING_TIMEOUT   0x0FE

Definition at line 41 of file PL_MPEP.h. Referenced by PL_MPEP::Display_Error_Message(), PL_MPEP::Planner_Greedy(), PL_MPEP::Planner_IMP_Greedy(), PL_MPEP::Planner_RRT_Connect_Like(), PL_MPEP::Planner_RRT_Greedy_Connect(), PL_MPEP::Planner_RRT_Greedy_Like(), PL_MPEP::Planner_RRT_Like(), PL_MPEP::Planner_SMG_Greedy(), PL_MPEP::Planner_SMG_RRT_Connect_Like(), and PL_MPEP::Planner_SMG_RRT_Greedy_Like().

#define ERROR_RRT_EXTEND_FAILURE   0x03

Definition at line 37 of file PL_MPEP.h. Referenced by PL_MPEP::Display_Error_Message(), PL_MPEP::Planner_RRT_Connect_Like(), PL_MPEP::Planner_RRT_Greedy_Connect(), PL_MPEP::Planner_RRT_Greedy_Like(), PL_MPEP::Planner_RRT_Like(), PL_MPEP::Planner_SMG_RRT_Connect_Like(), and PL_MPEP::Planner_SMG_RRT_Greedy_Like().

#define ERROR_SMGRAPH_FULL   0x06

Definition at line 40 of file PL_MPEP.h. Referenced by PL_MPEP::Display_Error_Message(), and PL_ForTest::Establish_Self_Motion_Graph().

#define ERROR_START_CONFIG_INVALID   0x04

Definition at line 38 of file PL_MPEP.h. Referenced by PL_MPEP::Display_Error_Message(), PL_MPEP::InitializeTree(), and PL_MPEP::Plan().

#define ERROR_UNKNOW_PLANNER   0x0FF

Definition at line 43 of file PL_MPEP.h.

#define TRAJ_CIRCLE   0x02

Definition at line 47 of file PL_MPEP.h.

#define TRAJ_LINE   0x00

Definition at line 45 of file PL_MPEP.h.

#define TRAJ_SEMICIRCLE   0x01

Definition at line 46 of file PL_MPEP.h.

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