PL_RRT_ClosedChain Class Reference

#include <planners/atace/PL_RRT_Constrained.h>

Inherits PL_PRM_ClosedChain, and PL_PRM_ClosedChain.

Inheritance diagram for PL_RRT_ClosedChain:

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Public Member Functions
	PL_RRT_ClosedChain ()
	~PL_RRT_ClosedChain ()
void	SetCollisionDetector (CD_BasicStyle *collisionDetector)
virtual bool	DrawExplicit () const
virtual bool	Plan ()
	PL_RRT_ClosedChain ()
	~PL_RRT_ClosedChain ()
void	SetCollisionDetector (CD_BasicStyle *collisionDetector)
virtual bool	DrawExplicit () const
virtual bool	Plan ()
Public Attributes
bool	m_bUseJacobian
Protected Attributes
vertex	m_goalVert
vertex	m_rootVert
Private Member Functions
bool	CreateTree (Configuration &conf)
void	ClearTree ()
vertex	AddNodeInTree (vertex parentVertex, Configuration &childConf, PA_Points &localPath)
vertex	FindClosestInTree (Configuration &conf)
Configuration &	GetConfigurationFromTree (vertex vert)
PA_Points &	GetPathFromTree (vertex vert)
double	Distance (const Configuration &conf1, const Configuration &conf2)
int	Extend (Configuration &fromConf, Configuration &toConf, Configuration dirConf, PA_Points &edgePath)
int	ExtendJacobian (Configuration &fromConf, Configuration &toConf, Configuration dirConf, PA_Points &edgePath)
bool	AdjustConfiguration (Configuration &config)
int	ConnectToGoal (vertex fromVert)
int	ConnectToGoalJacobian (vertex fromVert)
int	ConnectToGoal ()
int	ConnectToGoal2 ()
void	CompareJacobianAndRGD ()
bool	TestRGDConnection (Configuration &testStartConf, Configuration &testGoalConf, PA_Points &localPath)
bool	TestJacobianConnection (Configuration &testStartConf, Configuration &testGoalConf, PA_Points &localPath)
void	RetrievePath (vertex &goalVert)
void	CopyPath (PA_Points &target, PA_Points &source)
void	AppendPath (PA_Points &collect, PA_Points &local)
void	AppendPath (PA_Points &collect, PA_Points *local)
void	InsertPath (PA_Points &target, PA_Points &source)
bool	CreateTree (Configuration &conf)
void	ClearTree ()
vertex	AddNodeInTree (vertex parentVertex, Configuration &childConf, PA_Points &localPath)
vertex	FindClosestInTree (Configuration &conf)
Configuration &	GetConfigurationFromTree (vertex vert)
PA_Points &	GetPathFromTree (vertex vert)
double	Distance (const Configuration &conf1, const Configuration &conf2)
int	Extend (Configuration &fromConf, Configuration &toConf, Configuration dirConf, PA_Points &edgePath)
int	ExtendJacobian (Configuration &fromConf, Configuration &toConf, Configuration dirConf, PA_Points &edgePath)
int	ConnectToGoal (vertex fromVert)
int	ConnectToGoal ()
void	CompareLocalPlanners ()
bool	TestRGDConnection (Configuration &testStartConf, Configuration &testGoalConf, PA_Points &localPath)
bool	TestJacobianConnection (Configuration &testStartConf, Configuration &testGoalConf, PA_Points &localPath)
bool	TestAPDecompConnection (Configuration &testStartConf, Configuration &testGoalConf, PA_Points &localPath)
void	RetrievePath (vertex &goalVert)
void	CopyPath (PA_Points &target, PA_Points &source)
void	AppendPath (PA_Points &collect, PA_Points &local)
void	AppendPath (PA_Points &collect, PA_Points *local)
void	InsertPath (PA_Points &target, PA_Points &source)
void	OutputStatistics ()
Private Attributes
R_OpenChain *	m_pRobot
int	m_nDof
int	m_nToolFrame
Frame	m_frEndEffector
CJacobian *	jacobian
dynamic_trees	m_trajTree
std::vector< vertex >	m_vertices
std::vector< vertex >	m_vertices

Detailed Description

Definition at line 7 of file PL_RRT_Constrained.h.

Constructor & Destructor Documentation

PL_RRT_ClosedChain::PL_RRT_ClosedChain ( )

Definition at line 39 of file PL_RRT_Constrained.cpp.
References jacobian, m_bUseJacobian, m_goalVert, and m_rootVert.

PL_RRT_ClosedChain::~PL_RRT_ClosedChain ( )

Definition at line 48 of file PL_RRT_Constrained.cpp.
References ClearTree(), jacobian, and m_rootVert.
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PL_RRT_ClosedChain::PL_RRT_ClosedChain ( )

PL_RRT_ClosedChain::~PL_RRT_ClosedChain ( )

Member Function Documentation

vertex PL_RRT_ClosedChain::AddNodeInTree ( vertex parentVertex,

Configuration & childConf,

PA_Points & localPath

) [private]

vertex PL_RRT_ClosedChain::AddNodeInTree ( vertex parentVertex,

Configuration & childConf,

PA_Points & localPath

) [private]

Definition at line 640 of file PL_RRT_Constrained.cpp.
References VertexInfoInTree::conf, CopyPath(), VertexInfoInTree::edge, PlannerBase::guid, Semaphore::Lock(), m_vertices, and Semaphore::Unlock().
Referenced by ConnectToGoal(), ConnectToGoal2(), and Plan().
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bool PL_RRT_ClosedChain::AdjustConfiguration ( Configuration & config ) [private]

Definition at line 373 of file PL_RRT_Constrained.cpp.
References CJacobian::GetMatrix(), PL_PRM_ClosedChain::GetToolFrame(), Frame::GetTranslationVector(), Matrixmxn::Inverse(), PL_PRM_ClosedChain::IsClosed(), jacobian, m_frEndEffector, m_nDof, Rad2Deg(), CJacobian::SetConfiguration(), CJacobian::SetInterestPoint(), and PL_PRM_ClosedChain::useOrientConstraint.
Referenced by ConnectToGoalJacobian(), ExtendJacobian(), and TestJacobianConnection().
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void PL_RRT_ClosedChain::AppendPath ( PA_Points & collect,

PA_Points * local

) [private]

void PL_RRT_ClosedChain::AppendPath ( PA_Points & collect,

PA_Points & local

) [private]

void PL_RRT_ClosedChain::AppendPath ( PA_Points & collect,

PA_Points * local

) [private]

Definition at line 726 of file PL_RRT_Constrained.cpp.
References PA_Points::AppendPoint(), PA_Points::GetPoint(), and PA_Points::Size().
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void PL_RRT_ClosedChain::AppendPath ( PA_Points & collect,

PA_Points & local

) [private]

Definition at line 718 of file PL_RRT_Constrained.cpp.
References PA_Points::AppendPoint(), and PA_Points::Size().
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void PL_RRT_ClosedChain::ClearTree ( ) [private]

void PL_RRT_ClosedChain::ClearTree ( ) [private]

Definition at line 623 of file PL_RRT_Constrained.cpp.
References PlannerBase::guid, Semaphore::Lock(), and m_vertices.
Referenced by CreateTree(), and ~PL_RRT_ClosedChain().
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void PL_RRT_ClosedChain::CompareJacobianAndRGD ( ) [private]

Definition at line 863 of file PL_RRT_Constrained.cpp.
References DEF_NEIGHBOR, PL_PRM_ClosedChain::GenerateRandomConfig(), PlannerBase::GetStartConfig(), jacobian, Log(), and m_pRobot.
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void PL_RRT_ClosedChain::CompareLocalPlanners ( ) [private]

Definition at line 648 of file PL_RRT_ClosedChain.cpp.
References DEF_NEIGHBOR, PL_PRM_ClosedChain::GenerateRandomConfig(), PlannerBase::GetGoalConfig(), PlannerBase::GetStartConfig(), jacobian, Log(), and m_pRobot.
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int PL_RRT_ClosedChain::ConnectToGoal ( ) [private]

int PL_RRT_ClosedChain::ConnectToGoal ( vertex fromVert ) [private]

int PL_RRT_ClosedChain::ConnectToGoal ( ) [private]

Definition at line 448 of file PL_RRT_Constrained.cpp.
References AddNodeInTree(), PA_Points::AppendPoint(), PL_PRM_ClosedChain::edgeFrag, ERR_SUCCESS, FindClosestInTree(), PL_PRM_ClosedChain::GenerateRandomConfigForPose(), GetConfigurationFromTree(), PlannerBase::GetGoalConfig(), PL_PRM_ClosedChain::GetToolFrame(), PL_PRM_ClosedChain::IsInterfering(), m_goalVert, MAX_CONF_RETRY, and PL_PRM_ClosedChain::useGoalPose.
Referenced by Plan().
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int PL_RRT_ClosedChain::ConnectToGoal ( vertex fromVert ) [private]

Definition at line 495 of file PL_RRT_Constrained.cpp.
References AddNodeInTree(), PA_Points::AppendPoint(), PL_PRM_ClosedChain::edgeFrag, ERR_FAIL, ERR_SUCCESS, GetConfigurationFromTree(), PlannerBase::GetGoalConfig(), PL_PRM_ClosedChain::IsInterfering(), and m_goalVert.
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int PL_RRT_ClosedChain::ConnectToGoal2 ( ) [private]

Definition at line 401 of file PL_RRT_Constrained.cpp.
References AddNodeInTree(), PA_Points::AppendPoint(), PL_PRM_ClosedChain::edgeFrag, ERR_SUCCESS, FindClosestInTree(), PL_PRM_ClosedChain::GenerateRandomConfigForPose(), GetConfigurationFromTree(), PlannerBase::GetGoalConfig(), PL_PRM_ClosedChain::GetToolFrame(), PL_PRM_ClosedChain::IsInterfering(), m_goalVert, MAX_CONF_RETRY, and PL_PRM_ClosedChain::useGoalPose.
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int PL_RRT_ClosedChain::ConnectToGoalJacobian ( vertex fromVert ) [private]

Definition at line 523 of file PL_RRT_Constrained.cpp.
References AdjustConfiguration(), PA_Points::AppendPoint(), PA_Points::Clear(), PL_HasCollisionDetector::collisionDetector, DEF_DIST_TOLERANCE, DEF_INCREMENT, Configuration::DOF(), ERR_FAIL, GetConfigurationFromTree(), PlannerBase::GetGoalConfig(), CJacobian::GetMatrix(), Matrixmxn::Inverse(), CD_Bool::IsInterfering(), jacobian, Log(), m_frEndEffector, m_nDof, VectorN::Magnitude(), MIN_DIST_CHANGE, CJacobian::SetConfiguration(), CJacobian::SetInterestPoint(), and PL_PRM_ClosedChain::useOrientConstraint.
Referenced by Plan().
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void PL_RRT_ClosedChain::CopyPath ( PA_Points & target,

PA_Points & source

) [inline, private]

Definition at line 45 of file PL_RRT_ClosedChain.h.

void PL_RRT_ClosedChain::CopyPath ( PA_Points & target,

PA_Points & source

) [inline, private]

Definition at line 56 of file PL_RRT_Constrained.h.
Referenced by AddNodeInTree().

bool PL_RRT_ClosedChain::CreateTree ( Configuration & conf ) [private]

bool PL_RRT_ClosedChain::CreateTree ( Configuration & conf ) [private]

Definition at line 604 of file PL_RRT_Constrained.cpp.
References ClearTree(), VertexInfoInTree::conf, PlannerBase::guid, Semaphore::Lock(), m_rootVert, m_vertices, and Semaphore::Unlock().
Referenced by Plan().
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double PL_RRT_ClosedChain::Distance ( const Configuration & conf1,

const Configuration & conf2

) [private]

double PL_RRT_ClosedChain::Distance ( const Configuration & conf1,

const Configuration & conf2

) [private]

Definition at line 690 of file PL_RRT_Constrained.cpp.
References PL_HasCollisionDetector::collisionDetector, PL_PRM::dist, CD_JointLimits::JointDisplacement(), and VectorN::Length().
Referenced by Extend(), FindClosestInTree(), and TestRGDConnection().
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virtual bool PL_RRT_ClosedChain::DrawExplicit ( ) const [virtual]

Reimplemented from PL_PRM.

bool PL_RRT_ClosedChain::DrawExplicit ( ) const [virtual]

Reimplemented from PL_PRM.
Definition at line 78 of file PL_RRT_Constrained.cpp.
References VertexInfoInTree::conf, PlannerBase::guid, Semaphore::Lock(), m_trajTree, and m_vertices.
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int PL_RRT_ClosedChain::Extend ( Configuration & fromConf,

Configuration & toConf,

Configuration dirConf,

PA_Points & edgePath

) [private]

int PL_RRT_ClosedChain::Extend ( Configuration & fromConf,

Configuration & toConf,

Configuration dirConf,

PA_Points & edgePath

) [private]

Definition at line 243 of file PL_RRT_Constrained.cpp.
References PA_Points::AppendPoint(), PA_Points::Clear(), PL_PRM::dist, Distance(), PL_PRM_ClosedChain::edgeFrag, ERR_FAIL, ERR_SUCCESS, PL_PRM_ClosedChain::GetClosedConfiguration(), PL_PRM_ClosedChain::IsInterfering(), LEN_STEP_SIZE, and MAX_CONF_RETRY.
Referenced by Plan().
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int PL_RRT_ClosedChain::ExtendJacobian ( Configuration & fromConf,

Configuration & toConf,

Configuration dirConf,

PA_Points & edgePath

) [private]

int PL_RRT_ClosedChain::ExtendJacobian ( Configuration & fromConf,

Configuration & toConf,

Configuration dirConf,

PA_Points & edgePath

) [private]

Definition at line 286 of file PL_RRT_Constrained.cpp.
References AdjustConfiguration(), PA_Points::AppendPoint(), PA_Points::Clear(), PL_HasCollisionDetector::collisionDetector, DEF_INCREMENT, CJacobian::GetMatrix(), Matrixmxn::Inverse(), CD_Bool::IsInterfering(), jacobian, LEN_STEP_SIZE, m_frEndEffector, m_nDof, VectorN::Magnitude(), CJacobian::SetConfiguration(), CJacobian::SetInterestPoint(), and PL_PRM_ClosedChain::useOrientConstraint.
Referenced by Plan().
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vertex PL_RRT_ClosedChain::FindClosestInTree ( Configuration & conf ) [private]

vertex PL_RRT_ClosedChain::FindClosestInTree ( Configuration & conf ) [private]

Definition at line 656 of file PL_RRT_Constrained.cpp.
References VertexInfoInTree::conf, Distance(), and m_vertices.
Referenced by ConnectToGoal(), ConnectToGoal2(), and Plan().
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Configuration& PL_RRT_ClosedChain::GetConfigurationFromTree ( vertex vert ) [private]

Configuration & PL_RRT_ClosedChain::GetConfigurationFromTree ( vertex vert ) [private]

Definition at line 683 of file PL_RRT_Constrained.cpp.
References VertexInfoInTree::conf.
Referenced by ConnectToGoal(), ConnectToGoal2(), ConnectToGoalJacobian(), and Plan().

PA_Points& PL_RRT_ClosedChain::GetPathFromTree ( vertex vert ) [private]

PA_Points & PL_RRT_ClosedChain::GetPathFromTree ( vertex vert ) [private]

Definition at line 701 of file PL_RRT_Constrained.cpp.
References VertexInfoInTree::edge.
Referenced by RetrievePath().

void PL_RRT_ClosedChain::InsertPath ( PA_Points & target,

PA_Points & source

) [private]

void PL_RRT_ClosedChain::InsertPath ( PA_Points & target,

PA_Points & source

) [private]

Definition at line 734 of file PL_RRT_Constrained.cpp.
References PA_Points::Size().
Referenced by RetrievePath().
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void PL_RRT_ClosedChain::OutputStatistics ( ) [private]

Definition at line 568 of file PL_RRT_ClosedChain.cpp.
References PL_HasCollisionDetector::collisionDetector, CD_Linear::GetNumberOfTimesCalledLinear(), CD_Bool::GetNumberOfTimesCalledPoint(), PlannerBase::GetTimeElapsedInSeconds(), Log(), m_vertices, PL_Boolean_Output::path, and PA_Points::Size().
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virtual bool PL_RRT_ClosedChain::Plan ( ) [virtual]

Reimplemented from PL_PRM_ClosedChain.

bool PL_RRT_ClosedChain::Plan ( ) [virtual]

Reimplemented from PL_PRM_ClosedChain.
Definition at line 161 of file PL_RRT_Constrained.cpp.
References AddNodeInTree(), PA_Points::Clear(), ConnectToGoal(), ConnectToGoalJacobian(), CreateTree(), ERR_FAIL, ERR_SUCCESS, ERR_TIMEOUT, Extend(), ExtendJacobian(), FindClosestInTree(), PL_PRM_ClosedChain::GenerateRandomConfig(), GetConfigurationFromTree(), PlannerBase::GetStartConfig(), PlannerBase::HasTimeLimitExpired(), jacobian, m_bUseJacobian, m_goalVert, m_pRobot, PL_Boolean_Output::path, RetrievePath(), and PlannerBase::StartTimer().
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void PL_RRT_ClosedChain::RetrievePath ( vertex & goalVert ) [private]

void PL_RRT_ClosedChain::RetrievePath ( vertex & goalVert ) [private]

Definition at line 708 of file PL_RRT_Constrained.cpp.
References GetPathFromTree(), InsertPath(), and PL_Boolean_Output::path.
Referenced by Plan().
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void PL_RRT_ClosedChain::SetCollisionDetector ( CD_BasicStyle * collisionDetector ) [virtual]

Reimplemented from PL_PRM_ClosedChain.

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

Reimplemented from PL_PRM_ClosedChain.
Definition at line 56 of file PL_RRT_Constrained.cpp.
References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DeactivateFrames(), CD_BasicStyle::DOF(), CD_BasicStyle::GetFrameManager(), FrameManager::GetFrameRef(), CD_BasicStyle::GetRobot(), R_OpenChain::GetToolFrame(), Matrix4x4::Identity(), jacobian, m_frEndEffector, m_nDof, m_nToolFrame, m_pRobot, and PL_PRM::SetCollisionDetector().
Referenced by ServerBase::RefreshPlanner().
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bool PL_RRT_ClosedChain::TestAPDecompConnection ( Configuration & testStartConf,

Configuration & testGoalConf,

PA_Points & localPath

) [private]

Definition at line 627 of file PL_RRT_ClosedChain.cpp.
References ALG_CLOSEDCHAIN_APD, PA_Points::AppendPoint(), PA_Points::Clear(), PL_PRM_ClosedChain::edgeFrag, PL_PRM_ClosedAPDecomp::IsInterfering(), and PL_PRM_ClosedChain::m_nAlgorithm.
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bool PL_RRT_ClosedChain::TestJacobianConnection ( Configuration & testStartConf,

Configuration & testGoalConf,

PA_Points & localPath

) [private]

bool PL_RRT_ClosedChain::TestJacobianConnection ( Configuration & testStartConf,

Configuration & testGoalConf,

PA_Points & localPath

) [private]

Definition at line 752 of file PL_RRT_Constrained.cpp.
References AdjustConfiguration(), PA_Points::AppendPoint(), PA_Points::Clear(), PL_HasCollisionDetector::collisionDetector, DEF_DIST_TOLERANCE, DEF_INCREMENT, Configuration::DOF(), CJacobian::GetMatrix(), Matrixmxn::Inverse(), CD_Bool::IsInterfering(), jacobian, m_frEndEffector, m_nDof, VectorN::Magnitude(), CJacobian::SetConfiguration(), CJacobian::SetInterestPoint(), and PL_PRM_ClosedChain::useOrientConstraint.
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bool PL_RRT_ClosedChain::TestRGDConnection ( Configuration & testStartConf,

Configuration & testGoalConf,

PA_Points & localPath

) [private]

bool PL_RRT_ClosedChain::TestRGDConnection ( Configuration & testStartConf,

Configuration & testGoalConf,

PA_Points & localPath

) [private]

Definition at line 816 of file PL_RRT_Constrained.cpp.
References PA_Points::AppendPoint(), DEF_DIST_TOLERANCE, Distance(), PL_GraphBase::IsInterfering(), PL_PRM_ClosedChain::MakeItClosed(), MAX_ITERATION, MAX_RETRY, and MAX_RETRY2.
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Member Data Documentation

CJacobian* PL_RRT_ClosedChain::jacobian [private]

Reimplemented from PL_PRM_ClosedJacobian.
Definition at line 29 of file PL_RRT_Constrained.h.
Referenced by AdjustConfiguration(), CompareJacobianAndRGD(), CompareLocalPlanners(), ConnectToGoalJacobian(), ExtendJacobian(), PL_RRT_ClosedChain(), Plan(), SetCollisionDetector(), TestJacobianConnection(), and ~PL_RRT_ClosedChain().

bool PL_RRT_ClosedChain::m_bUseJacobian

Definition at line 23 of file PL_RRT_Constrained.h.
Referenced by PL_RRT_ClosedChain(), and Plan().

Frame PL_RRT_ClosedChain::m_frEndEffector [private]

Reimplemented from PL_PRM_ClosedJacobian.
Definition at line 28 of file PL_RRT_Constrained.h.
Referenced by AdjustConfiguration(), ConnectToGoalJacobian(), ExtendJacobian(), SetCollisionDetector(), and TestJacobianConnection().

vertex PL_RRT_ClosedChain::m_goalVert [protected]

Definition at line 18 of file PL_RRT_Constrained.h.
Referenced by ConnectToGoal(), ConnectToGoal2(), PL_RRT_ClosedChain(), and Plan().

int PL_RRT_ClosedChain::m_nDof [private]

Reimplemented from PL_PRM_ClosedJacobian.
Definition at line 26 of file PL_RRT_Constrained.h.
Referenced by AdjustConfiguration(), ConnectToGoalJacobian(), ExtendJacobian(), SetCollisionDetector(), and TestJacobianConnection().

int PL_RRT_ClosedChain::m_nToolFrame [private]

Reimplemented from PL_PRM_ClosedJacobian.
Definition at line 27 of file PL_RRT_Constrained.h.
Referenced by SetCollisionDetector().

R_OpenChain* PL_RRT_ClosedChain::m_pRobot [private]

Reimplemented from PL_PRM_ClosedJacobian.
Definition at line 25 of file PL_RRT_Constrained.h.
Referenced by CompareJacobianAndRGD(), CompareLocalPlanners(), Plan(), and SetCollisionDetector().

vertex PL_RRT_ClosedChain::m_rootVert [protected]

Definition at line 19 of file PL_RRT_Constrained.h.
Referenced by CreateTree(), PL_RRT_ClosedChain(), and ~PL_RRT_ClosedChain().

dynamic_trees PL_RRT_ClosedChain::m_trajTree [private]

Definition at line 33 of file PL_RRT_Constrained.h.
Referenced by DrawExplicit().

std::vector<vertex> PL_RRT_ClosedChain::m_vertices [private]

Definition at line 24 of file PL_RRT_ClosedChain.h.

std::vector<vertex> PL_RRT_ClosedChain::m_vertices [private]

Definition at line 34 of file PL_RRT_Constrained.h.
Referenced by AddNodeInTree(), ClearTree(), CreateTree(), DrawExplicit(), FindClosestInTree(), and OutputStatistics().

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

planners/atace/PL_RRT_Constrained.h
planners/closedchain/PL_RRT_ClosedChain.h
planners/atace/PL_RRT_Constrained.cpp
planners/closedchain/PL_RRT_ClosedChain.cpp

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

1.4.6-NO

PL_RRT_ClosedChain Class Reference

Public Member Functions

Public Attributes

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation