PL_RRT Class Reference

#include <planners/rrt/PL_RRT.h>

Inherits PL_Boolean_Output, and PL_OpenGL.

Inheritance diagram for PL_RRT:

[legend]Collaboration diagram for PL_RRT:

[legend]List of all members.

Public Member Functions
	~PL_RRT ()
virtual bool	Plan ()
virtual void	SetStart_and_GoalConfig (const Configuration &configuration1, const Configuration &configuration2)
bool	DrawExplicit () const
Protected Member Functions
double	MyDistanceFunc (const Configuration &conf1, const Configuration &conf2) const
int	Extend_trapped (JMA_Roadmap_Tree *Ptr_tree, int *the_n_nodes, Configuration *the_random_config)
int	Get_new_config (Configuration *the_random_config, Configuration *the_near_config, Configuration *the_new_config)
int	Get_nearest_neighbour (JMA_Roadmap_Tree *Ptr_tree1, Configuration *the_random_config, Configuration *the_near_config)
void	InitRoadmapTree (JMA_Roadmap_Tree *Ptr_tree, const int n_dof1, const JMA_Configuration init_conf) const
void	GetIdsPath (JMA_Roadmap_Tree *Ptr_tree, const int landmark_id, int ids_list[], int *n_landmarks)
int	Get_random_config (Configuration *the_random_config)
Private Attributes
int	ids_list [10000]
JMA_Roadmap_Tree	tree
JMA_Configuration	init_conf
JMA_Configuration	goal_conf
int	numberOfEmbryos
int	numberOfLandmarks
Configuration	random_config
Configuration	near_config
Configuration	new_config
Configuration	last_config

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Detailed Description

Definition at line 12 of file PL_RRT.h.

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Constructor & Destructor Documentation

PL_RRT::~PL_RRT (   )

Definition at line 23 of file PL_RRT.cpp.

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Member Function Documentation

bool PL_RRT::DrawExplicit (   )  const [virtual]

Reimplemented from PL_OpenGL. Definition at line 308 of file PL_RRT.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. Here is the call graph for this function:

int PL_RRT::Extend_trapped (  JMA_Roadmap_Tree *  Ptr_tree, int *  the_n_nodes, Configuration *  the_random_config )  [protected]

Definition at line 186 of file PL_RRT.cpp. References PL_HasCollisionDetector::collisionDetector, Get_nearest_neighbour(), Get_new_config(), CD_Linear::IsInterferingLinear(), near_config, new_config, and random_config. Here is the call graph for this function:

int PL_RRT::Get_nearest_neighbour (  JMA_Roadmap_Tree *  Ptr_tree1, Configuration *  the_random_config, Configuration *  the_near_config )  [protected]

Definition at line 214 of file PL_RRT.cpp. References MyDistanceFunc(), and JMA_Roadmap_Tree::n_nodes. Referenced by Extend_trapped(). Here is the call graph for this function:

int PL_RRT::Get_new_config (  Configuration *  the_random_config, Configuration *  the_near_config, Configuration *  the_new_config )  [protected]

Definition at line 233 of file PL_RRT.cpp. References MyDistanceFunc(). Referenced by Extend_trapped(). Here is the call graph for this function:

int PL_RRT::Get_random_config (  Configuration *  the_random_config  )  [protected]

Definition at line 165 of file PL_RRT.cpp. References BIGEST_RND_NUMBER, PL_HasCollisionDetector::collisionDetector, Configuration::DOF(), PlannerBase::GetStartConfig(), CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), and switch_random(). Here is the call graph for this function:

void PL_RRT::GetIdsPath (  JMA_Roadmap_Tree *  Ptr_tree, const int  landmark_id, int  ids_list[], int *  n_landmarks )  [protected]

Definition at line 277 of file PL_RRT.cpp.

void PL_RRT::InitRoadmapTree (  JMA_Roadmap_Tree *  Ptr_tree, const int  n_dof1, const JMA_Configuration  init_conf )  const [protected]

Definition at line 257 of file PL_RRT.cpp. References JMA_Configuration::dist, JMA_Configuration::dof, init_conf, and NIL. Referenced by SetStart_and_GoalConfig().

double PL_RRT::MyDistanceFunc (  const Configuration &  conf1, const Configuration &  conf2 )  const [protected]

Definition at line 249 of file PL_RRT.cpp. References PL_HasCollisionDetector::collisionDetector, and CD_JointLimits::DistanceBetween(). Referenced by Get_nearest_neighbour(), and Get_new_config(). Here is the call graph for this function:

bool PL_RRT::Plan (   )  [virtual]

Implements PlannerBase. Definition at line 28 of file PL_RRT.cpp. References PA_Points::AppendPoint(), PA_Points::Clear(), PL_HasCollisionDetector::collisionDetector, PlannerBase::GetGoalConfig(), PlannerBase::GetStartConfig(), CD_Bool::IsInterfering(), PL_Boolean_Output::path, and PlannerBase::StartTimer(). Here is the call graph for this function:

void PL_RRT::SetStart_and_GoalConfig (  const Configuration &  configuration1, const Configuration &  configuration2 )  [virtual]

Definition at line 298 of file PL_RRT.cpp. References JMA_Configuration::dist, JMA_Configuration::dof, PlannerBase::GetStartConfig(), goal_conf, init_conf, InitRoadmapTree(), and tree. Here is the call graph for this function:

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Member Data Documentation

JMA_Configuration PL_RRT::goal_conf [private]

Definition at line 38 of file PL_RRT.h. Referenced by SetStart_and_GoalConfig().

int PL_RRT::ids_list[10000] [private]

Definition at line 36 of file PL_RRT.h.

JMA_Configuration PL_RRT::init_conf [private]

Definition at line 38 of file PL_RRT.h. Referenced by InitRoadmapTree(), and SetStart_and_GoalConfig().

Configuration PL_RRT::last_config [private]

Definition at line 41 of file PL_RRT.h.

Configuration PL_RRT::near_config [private]

Definition at line 41 of file PL_RRT.h. Referenced by Extend_trapped().

Configuration PL_RRT::new_config [private]

Definition at line 41 of file PL_RRT.h. Referenced by Extend_trapped().

int PL_RRT::numberOfEmbryos [private]

Definition at line 39 of file PL_RRT.h.

int PL_RRT::numberOfLandmarks [private]

Definition at line 40 of file PL_RRT.h.

Configuration PL_RRT::random_config [private]

Definition at line 41 of file PL_RRT.h. Referenced by Extend_trapped().

JMA_Roadmap_Tree PL_RRT::tree [private]

Definition at line 37 of file PL_RRT.h. Referenced by DrawExplicit(), and SetStart_and_GoalConfig().

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

• planners/rrt/PL_RRT.h
• planners/rrt/PL_RRT.cpp

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