PL_PRM_ClosedBase Class Reference

#include <planners/closedchain/PL_PRM_ClosedChain.h>

Inherits PL_PRM.

Inherited by PL_PRM_ClosedAPDecomp [virtual], PL_PRM_ClosedJacobian [virtual], PL_PRM_ClosedLocalJacobian [virtual], and PL_PRM_ClosedRGD [virtual].

Inheritance diagram for PL_PRM_ClosedBase:

[legend]Collaboration diagram for PL_PRM_ClosedBase:

[legend]List of all members.

Public Member Functions
	PL_PRM_ClosedBase ()
	~PL_PRM_ClosedBase ()
virtual bool	Plan ()
virtual bool	MakeItClosed (Configuration &conf)=0
virtual bool	IsInterfering (const Configuration &c1, const Configuration &c2)=0
double	Error (const Configuration &p1) const
Frame	GetToolFrame (const Configuration &config) const
Protected Member Functions
virtual Configuration	GenerateRandomConfig ()
virtual Configuration	GenerateRandomConfig (const Configuration &seed, const double &std_dev)
virtual void	ConnectEdgesFull (const node &n1, const double &radius_squared)
virtual bool	IsInterfering (const Configuration &c1)
virtual SuccessResultType	TranslatePath ()
void	GetRotAngles (const Matrix4x4 &frame, double &roll, double &pitch, double &yaw) const
bool	IsClosed (const Configuration &conf) const
Protected Attributes
Fragment *	edgeFrag
edge_map< Fragment >	edgePath

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Detailed Description

Definition at line 36 of file PL_PRM_ClosedChain.h.

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Constructor & Destructor Documentation

PL_PRM_ClosedBase::PL_PRM_ClosedBase (   )

Definition at line 23 of file PL_PRM_ClosedChain.cpp. References edgeFrag, edgePath, and PL_GraphBase::G.

PL_PRM_ClosedBase::~PL_PRM_ClosedBase (   )

Definition at line 29 of file PL_PRM_ClosedChain.cpp. References edgeFrag.

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Member Function Documentation

void PL_PRM_ClosedBase::ConnectEdgesFull (  const node &  n1, const double &  radius_squared )  [protected, virtual]

Reimplemented from PL_PRM. Reimplemented in PL_PRM_ClosedChain. Definition at line 82 of file PL_PRM_ClosedChain.cpp. References PL_PRM::baseConnectID, PL_PRM::config_seeds, PL_PRM::connectIDp, PL_GraphBase::Distance(), PL_PRM::edgeChecked, edgeFrag, edgePath, PL_GraphBase::G, PL_GraphBase::GetMidPoint(), IsInterfering(), PL_GraphBase::NIL_ID, PL_PRM::NodeInConnectionList(), TRUE, and PL_PRM::useMidPts. Here is the call graph for this function:

double PL_PRM_ClosedBase::Error (  const Configuration &  p1  )  const

Reimplemented in PL_PRM_ClosedChain. Definition at line 252 of file PL_PRM_ClosedChain.cpp. References GetToolFrame(), Frame::GetTranslationVector(), and Vector4::Magnitude(). Referenced by IsClosed(), and PL_PRM_ClosedRGD::MakeItClosed(). Here is the call graph for this function:

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

Reimplemented from PL_GraphBase. Definition at line 74 of file PL_PRM_ClosedChain.cpp. References PL_GraphBase::GenerateRandomConfig(), and MakeItClosed(). Here is the call graph for this function:

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

Reimplemented from PL_GraphBase. Definition at line 66 of file PL_PRM_ClosedChain.cpp. References PL_GraphBase::GenerateRandomConfig(), and MakeItClosed(). Here is the call graph for this function:

void PL_PRM_ClosedBase::GetRotAngles (  const Matrix4x4 &  frame, double &  roll, double &  pitch, double &  yaw )  const [protected]

Reimplemented in PL_PRM_ClosedChain.

Frame PL_PRM_ClosedBase::GetToolFrame (  const Configuration &  config  )  const

Reimplemented in PL_PRM_ClosedChain. Definition at line 43 of file PL_PRM_ClosedChain.cpp. References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DOF(), CD_BasicStyle::GetFrameManager(), FrameManager::GetFrameRef(), CD_BasicStyle::GetRobot(), R_OpenChain::GetToolFrame(), FrameManager::GetTransformRelative(), FrameManager::GetWorldFrame(), CD_BasicStyle::JointFrameNum(), and CD_BasicStyle::SetConfiguration(). Referenced by Error(), PL_PRM_ClosedAPDecomp::MakeItClosed(), and PL_PRM_ClosedJacobian::MakeItClosed(). Here is the call graph for this function:

bool PL_PRM_ClosedBase::IsClosed (  const Configuration &  conf  )  const [protected]

Reimplemented in PL_PRM_ClosedChain. Definition at line 237 of file PL_PRM_ClosedChain.cpp. References DEF_ERR_TOLERANCE, and Error(). Referenced by IsInterfering(), and PL_PRM_ClosedAPDecomp::MakeItClosed(). Here is the call graph for this function:

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

Reimplemented from PL_GraphBase. Definition at line 242 of file PL_PRM_ClosedChain.cpp. References IsClosed(), and PL_GraphBase::IsInterfering(). Here is the call graph for this function:

virtual bool PL_PRM_ClosedBase::IsInterfering (  const Configuration &  c1, const Configuration &  c2 )  [pure virtual]

Reimplemented from PL_GraphBase. Implemented in PL_PRM_ClosedRGD, PL_PRM_ClosedLocalJacobian, PL_PRM_ClosedJacobian, PL_PRM_ClosedAPDecomp, and PL_PRM_ClosedChain. Referenced by ConnectEdgesFull().

virtual bool PL_PRM_ClosedBase::MakeItClosed (  Configuration &  conf  )  [pure virtual]

Implemented in PL_PRM_ClosedRGD, PL_PRM_ClosedLocalJacobian, PL_PRM_ClosedJacobian, PL_PRM_ClosedAPDecomp, and PL_PRM_ClosedChain. Referenced by GenerateRandomConfig().

bool PL_PRM_ClosedBase::Plan (   )  [virtual]

Reimplemented from PL_PRM. Reimplemented in PL_PRM_ClosedChain, PL_RRT_ClosedChain, PL_PRM_ClosedLocalJacobian, PL_PRM_ClosedChain, and PL_RRT_ClosedChain. Definition at line 35 of file PL_PRM_ClosedChain.cpp. References PL_PRM::Plan(). Here is the call graph for this function:

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

Reimplemented from PL_GraphBase. Reimplemented in PL_PRM_ClosedChain. Definition at line 260 of file PL_PRM_ClosedChain.cpp. References PA_Points::AppendPoint(), PA_Points::Clear(), FAIL, PlannerBase::GetStartConfig(), PL_GraphBase::graphPath, and PL_Boolean_Output::path. Here is the call graph for this function:

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Member Data Documentation

Fragment* PL_PRM_ClosedBase::edgeFrag [protected]

Reimplemented in PL_PRM_ClosedChain. Definition at line 59 of file PL_PRM_ClosedChain.h. Referenced by ConnectEdgesFull(), PL_PRM_ClosedAPDecomp::IsInterfering(), PL_PRM_ClosedRGD::IsInterfering(), PL_PRM_ClosedJacobian::IsInterfering(), PL_PRM_ClosedBase(), and ~PL_PRM_ClosedBase().

edge_map<Fragment> PL_PRM_ClosedBase::edgePath [protected]

Reimplemented in PL_PRM_ClosedChain. Definition at line 64 of file PL_PRM_ClosedChain.h. Referenced by ConnectEdgesFull(), and PL_PRM_ClosedBase().

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

• planners/closedchain/PL_PRM_ClosedChain.h
• planners/closedchain/PL_PRM_ClosedChain.cpp

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