PL_Juan Class Reference

#include <planners/aca/PL_Juan.h>

Inherits PL_Boolean_Output, and PL_OpenGL.

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Public Member Functions
	PL_Juan ()
virtual	~PL_Juan ()
virtual bool	Plan ()
virtual bool	Save (const char *filename) const
virtual void	SetStartConfig (const Configuration &configuration)
virtual bool	Load (const char *filename)
virtual bool	DrawExplicit () const
Protected Member Functions
void	Initialize ()
double	MyDistanceFunc (const Configuration &conf1, const Configuration &conf2) const
int	MyRandomPath (int id_landmark, const int id_embryo, const int n_dof, const JMA_Configuration init_conf, JMA_Configuration *embryo) const
int	SimplifyIdsTrajectory (const JMA_Roadmap_Tree tree, const int list[], int n_nodes, int new_list[], int new_n_nodes) const
int	Search (JMA_Roadmap_Tree *tree) const
int	MyLocalPlanner (const Configuration &start_conf, Configuration &local_minima) const
int	MyGoalFunc (const Configuration &config) const
int	MyPtpCollision (const Configuration &start_conf, const Configuration &local_minima) const
void	InitRoadmapTree (JMA_Roadmap_Tree *tree, const int n_dof, const int n_embryos, const JMA_Configuration init_conf) const
void	Explore (JMA_Roadmap_Tree *tree) const
void	GenerateNewEmbryo (JMA_Roadmap_Tree *tree, const int id_landmark, const int id_embryo) const
void	UpdateRoadmapTree (JMA_Roadmap_Tree *tree) const
void	ComputeEmbryoDistance (JMA_Roadmap_Tree tree, JMA_Configuration embryo) const
void	CopyTrajectoryToPath ()
Static Protected Member Functions
static int	GetNAncestors (const JMA_Roadmap_Tree *tree, const int landmark_id)
static void	GetIdsPath (const JMA_Roadmap_Tree tree, const int landmark_id, int list_ids[], int n_landmarks)
Private Attributes
int	ids_list [500]
JMA_Roadmap_Tree *	tree
JMA_Configuration	init_conf
int	numberOfEmbryos
int	numberOfLandmarks
bool	m_Initialized: 1

Detailed Description

Definition at line 9 of file PL_Juan.h.

Constructor & Destructor Documentation

PL_Juan::PL_Juan ( )

Definition at line 48 of file PL_Juan.cpp.

PL_Juan::~PL_Juan ( ) [virtual]

Definition at line 57 of file PL_Juan.cpp.
References tree.

Member Function Documentation

void PL_Juan::ComputeEmbryoDistance ( JMA_Roadmap_Tree * tree,

JMA_Configuration * embryo

) const [protected]

Definition at line 464 of file PL_Juan.cpp.
References BIG_NUMBER, and MyDistanceFunc().
Referenced by GenerateNewEmbryo().
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void PL_Juan::CopyTrajectoryToPath ( ) [protected]

Definition at line 483 of file PL_Juan.cpp.

bool PL_Juan::DrawExplicit ( ) const [virtual]

Reimplemented from PL_OpenGL.
Definition at line 662 of file PL_Juan.cpp.
References JMA_Configuration::dof, Configuration::DOF(), PlannerBase::GetGoalConfig(), JMA_Node::landmark, Semaphore::Lock(), JMA_Roadmap_Tree::n_nodes, JMA_Roadmap_Tree::node, and tree.
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void PL_Juan::Explore ( JMA_Roadmap_Tree * tree ) const [protected]

Definition at line 369 of file PL_Juan.cpp.
References JMA_Roadmap_Tree::best_father_id, GenerateNewEmbryo(), JMA_Roadmap_Tree::n_nodes, NUMBER_OF_EMBRYOS, tree, and UpdateRoadmapTree().
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void PL_Juan::GenerateNewEmbryo ( JMA_Roadmap_Tree * tree,

const int id_landmark,

const int id_embryo

) const [protected]

Definition at line 397 of file PL_Juan.cpp.
References ComputeEmbryoDistance(), PlannerBase::GetStartConfig(), MyRandomPath(), and tree.
Referenced by Explore(), and InitRoadmapTree().
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void PL_Juan::GetIdsPath ( const JMA_Roadmap_Tree * tree,

const int landmark_id,

int list_ids[],

int * n_landmarks

) [static, protected]

Definition at line 409 of file PL_Juan.cpp.
References JMA_Roadmap_Tree::best_father_id, JMA_Node::father_id, GetNAncestors(), JMA_Roadmap_Tree::n_nodes, JMA_Roadmap_Tree::node, and tree.
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int PL_Juan::GetNAncestors ( const JMA_Roadmap_Tree * tree,

const int landmark_id

) [static, protected]

Definition at line 251 of file PL_Juan.cpp.
References JMA_Node::father_id, IJG_Assert, JMA_Roadmap_Tree::n_nodes, JMA_Roadmap_Tree::node, and tree.
Referenced by GetIdsPath().

void PL_Juan::Initialize ( ) [protected]

Definition at line 66 of file PL_Juan.cpp.
References m_Initialized, and tree.
Referenced by Plan(), and SetStartConfig().

void PL_Juan::InitRoadmapTree ( JMA_Roadmap_Tree * tree,

const int n_dof,

const int n_embryos,

const JMA_Configuration init_conf

) const [protected]

Definition at line 338 of file PL_Juan.cpp.
References JMA_Roadmap_Tree::best_embryo_id, JMA_Roadmap_Tree::best_father_id, JMA_Configuration::dist, JMA_Configuration::dof, JMA_Node::embryo, JMA_Node::father_id, GenerateNewEmbryo(), init_conf, JMA_Node::landmark, JMA_Roadmap_Tree::last_max_dist, JMA_Roadmap_Tree::max_dist, JMA_Roadmap_Tree::N_dof, JMA_Node::N_embryos, JMA_Roadmap_Tree::n_nodes, NIL, JMA_Roadmap_Tree::node, and tree.
Referenced by SetStartConfig().
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bool PL_Juan::Load ( const char * filename ) [virtual]

Reimplemented from PlannerBase.
Definition at line 575 of file PL_Juan.cpp.
References JMA_Roadmap_Tree::best_embryo_id, JMA_Roadmap_Tree::best_father_id, JMA_Roadmap_Tree::last_max_dist, Semaphore::Lock(), JMA_Roadmap_Tree::max_dist, JMA_Roadmap_Tree::N_dof, JMA_Roadmap_Tree::n_nodes, JMA_Roadmap_Tree::node, tree, and Semaphore::Unlock().
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double PL_Juan::MyDistanceFunc ( const Configuration & conf1,

const Configuration & conf2

) const [protected]

Definition at line 177 of file PL_Juan.cpp.
References PL_HasCollisionDetector::collisionDetector, and CD_JointLimits::DistanceBetween().
Referenced by ComputeEmbryoDistance(), and UpdateRoadmapTree().
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int PL_Juan::MyGoalFunc ( const Configuration & config ) const [protected]

Definition at line 301 of file PL_Juan.cpp.
References PlannerBase::GetGoalConfig(), and TRUE.
Referenced by Search().
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int PL_Juan::MyLocalPlanner ( const Configuration & start_conf,

Configuration & local_minima

) const [protected]

Definition at line 283 of file PL_Juan.cpp.
References FALSE, PlannerBase::GetGoalConfig(), and MyPtpCollision().
Referenced by Search().
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int PL_Juan::MyPtpCollision ( const Configuration & start_conf,

const Configuration & local_minima

) const [protected]

Definition at line 313 of file PL_Juan.cpp.
References PL_HasCollisionDetector::collisionDetector, and CD_Linear::IsInterferingLinear().
Referenced by MyLocalPlanner(), and SimplifyIdsTrajectory().
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int PL_Juan::MyRandomPath ( int id_landmark,

const int id_embryo,

const int n_dof,

const JMA_Configuration init_conf,

JMA_Configuration * embryo

) const [protected]

Definition at line 184 of file PL_Juan.cpp.
References BIGEST_RND_NUMBER, PL_HasCollisionDetector::collisionDetector, Configuration::DOF(), JMA_Configuration::dof, PlannerBase::GetStartConfig(), init_conf, CD_Bool::IsInterfering(), CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), and switch_random().
Referenced by GenerateNewEmbryo().
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bool PL_Juan::Plan ( ) [virtual]

Implements PlannerBase.
Definition at line 76 of file PL_Juan.cpp.
References PA_Points::AppendPoint(), PA_Points::Clear(), PL_HasCollisionDetector::collisionDetector, PlannerBase::GetGoalConfig(), PlannerBase::GetStartConfig(), Initialize(), CD_Bool::IsInterfering(), PL_Boolean_Output::path, and PlannerBase::StartTimer().
Referenced by PL_Range_Sensor::Plan().
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bool PL_Juan::Save ( const char * filename ) const [virtual]

Reimplemented from PlannerBase.
Definition at line 505 of file PL_Juan.cpp.
References JMA_Roadmap_Tree::best_embryo_id, JMA_Roadmap_Tree::best_father_id, JMA_Roadmap_Tree::last_max_dist, JMA_Roadmap_Tree::max_dist, JMA_Roadmap_Tree::N_dof, JMA_Roadmap_Tree::n_nodes, JMA_Roadmap_Tree::node, and tree.

int PL_Juan::Search ( JMA_Roadmap_Tree * tree ) const [protected]

Definition at line 271 of file PL_Juan.cpp.
References MyGoalFunc(), and MyLocalPlanner().
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void PL_Juan::SetStartConfig ( const Configuration & configuration ) [virtual]

Reimplemented from PlannerBase.
Definition at line 562 of file PL_Juan.cpp.
References JMA_Configuration::dist, JMA_Configuration::dof, PlannerBase::GetStartConfig(), init_conf, Initialize(), InitRoadmapTree(), MAX_EMBRYOS, PlannerBase::SetStartConfig(), and tree.
Referenced by PL_Range_Sensor::SetStartConfig().
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int PL_Juan::SimplifyIdsTrajectory ( const JMA_Roadmap_Tree * tree,

const int list[],

int n_nodes,

int new_list[],

int * new_n_nodes

) const [protected]

Definition at line 214 of file PL_Juan.cpp.
References FALSE, MyPtpCollision(), and TRUE.
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void PL_Juan::UpdateRoadmapTree ( JMA_Roadmap_Tree * tree ) const [protected]

Definition at line 431 of file PL_Juan.cpp.
References MyDistanceFunc().
Referenced by Explore().
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Member Data Documentation

int PL_Juan::ids_list[500] [private]

Definition at line 40 of file PL_Juan.h.

JMA_Configuration PL_Juan::init_conf [private]

Definition at line 42 of file PL_Juan.h.
Referenced by InitRoadmapTree(), MyRandomPath(), and SetStartConfig().

bool PL_Juan::m_Initialized [private]

Definition at line 45 of file PL_Juan.h.
Referenced by Initialize().

int PL_Juan::numberOfEmbryos [private]

Definition at line 43 of file PL_Juan.h.

int PL_Juan::numberOfLandmarks [private]

Definition at line 44 of file PL_Juan.h.

JMA_Roadmap_Tree* PL_Juan::tree [private]

Definition at line 41 of file PL_Juan.h.
Referenced by DrawExplicit(), Explore(), GenerateNewEmbryo(), GetIdsPath(), GetNAncestors(), Initialize(), InitRoadmapTree(), Load(), Save(), SetStartConfig(), and ~PL_Juan().

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

planners/aca/PL_Juan.h
planners/aca/PL_Juan.cpp

Generated on Sat Apr 1 21:55:08 2006 for Motion Planning Kernel by

1.4.6-NO

PL_Juan Class Reference

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation