PL_RGD_RRT Class Reference

#include <planners/atace/PL_RGD_Constraint.h>

Inherits PL_RGD_PRM.

Inherited by PL_RGD_Constraint.

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List of all members.

Public Member Functions

 PL_RGD_RRT ()
 ~PL_RGD_RRT ()
virtual bool DrawExplicit () const
virtual bool Plan ()

Protected 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 ConnectToGoal ()

Protected Attributes

vertex m_goalVert
vertex m_rootVert
dynamic_trees m_trajTree
std::vector< vertex > m_vertices

Private Member Functions

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)

Detailed Description

Definition at line 92 of file PL_RGD_Constraint.h.

Constructor & Destructor Documentation

PL_RGD_RRT::PL_RGD_RRT (   ) 
 

Definition at line 1141 of file PL_RGD_Constraint.cpp.

References m_goalVert, and m_rootVert.

PL_RGD_RRT::~PL_RGD_RRT (   ) 
 

Definition at line 1147 of file PL_RGD_Constraint.cpp.

References ClearTree(), and m_rootVert.

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Member Function Documentation

vertex PL_RGD_RRT::AddNodeInTree (  vertex  parentVertex,
Configuration &  childConf,
PA_Points &  localPath
)  [protected]
 

Definition at line 1420 of file PL_RGD_Constraint.cpp.

References VertexInfoInTree::conf, CopyPath(), VertexInfoInTree::edge, PlannerBase::guid, Semaphore::Lock(), m_vertices, and Semaphore::Unlock().

Referenced by ConnectToGoal(), and Plan().

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void PL_RGD_RRT::AppendPath (  PA_Points &  collect,
PA_Points *  local
)  [private]
 

Definition at line 1506 of file PL_RGD_Constraint.cpp.

References PA_Points::AppendPoint(), PA_Points::GetPoint(), and PA_Points::Size().

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void PL_RGD_RRT::AppendPath (  PA_Points &  collect,
PA_Points &  local
)  [private]
 

Definition at line 1498 of file PL_RGD_Constraint.cpp.

References PA_Points::AppendPoint(), and PA_Points::Size().

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void PL_RGD_RRT::ClearTree (   )  [protected]
 

Definition at line 1403 of file PL_RGD_Constraint.cpp.

References PlannerBase::guid, Semaphore::Lock(), and m_vertices.

Referenced by CreateTree(), PL_RGD_Constraint::SetStrategy(), and ~PL_RGD_RRT().

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int PL_RGD_RRT::ConnectToGoal (   )  [protected]
 

Definition at line 1339 of file PL_RGD_Constraint.cpp.

References AddNodeInTree(), PA_Points::AppendPoint(), PL_RGD_PRM::edgeFrag, ERR_SUCCESS, FindClosestInTree(), PL_RGD_PRM::GenerateRandomConfigForPose(), GetConfigurationFromTree(), PlannerBase::GetGoalConfig(), PL_RGD_PRM::GetToolFrame(), PlannerBase::HasTimeLimitExpired(), PL_RGD_PRM::IsInterfering(), m_goalVert, MAX_CONF_RETRY, and PL_RGD_PRM::useGoalPose.

Referenced by Plan().

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void PL_RGD_RRT::CopyPath (  PA_Points &  target,
PA_Points &  source
)  [inline, private]
 

Definition at line 123 of file PL_RGD_Constraint.h.

Referenced by AddNodeInTree().

bool PL_RGD_RRT::CreateTree (  Configuration &  conf  )  [protected]
 

Definition at line 1384 of file PL_RGD_Constraint.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_RGD_RRT::Distance (  const Configuration &  conf1,
const Configuration &  conf2
)  [protected]
 

Definition at line 1470 of file PL_RGD_Constraint.cpp.

References PL_HasCollisionDetector::collisionDetector, PL_PRM::dist, CD_JointLimits::JointDisplacement(), and VectorN::Length().

Referenced by Extend(), and FindClosestInTree().

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bool PL_RGD_RRT::DrawExplicit (   )  const [virtual]
 

Reimplemented from PL_PRM.

Reimplemented in PL_RGD_Constraint.

Definition at line 1153 of file PL_RGD_Constraint.cpp.

References VertexInfoInTree::conf, PlannerBase::guid, Semaphore::Lock(), m_trajTree, and m_vertices.

Referenced by PL_RGD_Constraint::DrawExplicit().

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int PL_RGD_RRT::Extend (  Configuration &  fromConf,
Configuration &  toConf,
Configuration  dirConf,
PA_Points &  edgePath
)  [protected]
 

Definition at line 1295 of file PL_RGD_Constraint.cpp.

References PA_Points::AppendPoint(), PA_Points::Clear(), PL_PRM::dist, Distance(), PL_RGD_PRM::edgeFrag, ERR_FAIL, ERR_SUCCESS, PL_RGD_PRM::GetSatisfiedConfiguration(), PL_RGD_PRM::IsInterfering(), LEN_STEP_SIZE, and MAX_CONF_RETRY.

Referenced by Plan().

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vertex PL_RGD_RRT::FindClosestInTree (  Configuration &  conf  )  [protected]
 

Definition at line 1436 of file PL_RGD_Constraint.cpp.

References VertexInfoInTree::conf, Distance(), and m_vertices.

Referenced by ConnectToGoal(), and Plan().

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Configuration & PL_RGD_RRT::GetConfigurationFromTree (  vertex  vert  )  [protected]
 

Definition at line 1463 of file PL_RGD_Constraint.cpp.

References VertexInfoInTree::conf.

Referenced by ConnectToGoal(), and Plan().

PA_Points & PL_RGD_RRT::GetPathFromTree (  vertex  vert  )  [protected]
 

Definition at line 1481 of file PL_RGD_Constraint.cpp.

References VertexInfoInTree::edge.

Referenced by RetrievePath().

void PL_RGD_RRT::InsertPath (  PA_Points &  target,
PA_Points &  source
)  [private]
 

Definition at line 1514 of file PL_RGD_Constraint.cpp.

References PA_Points::Size().

Referenced by RetrievePath().

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bool PL_RGD_RRT::Plan (   )  [virtual]
 

Reimplemented from PL_RGD_PRM.

Reimplemented in PL_RGD_Constraint.

Definition at line 1236 of file PL_RGD_Constraint.cpp.

References AddNodeInTree(), PA_Points::Clear(), ConnectToGoal(), CreateTree(), ERR_FAIL, ERR_SUCCESS, ERR_TIMEOUT, Extend(), FindClosestInTree(), PL_RGD_PRM::GenerateRandomConfig(), GetConfigurationFromTree(), PlannerBase::GetStartConfig(), PlannerBase::HasTimeLimitExpired(), m_goalVert, PL_Boolean_Output::path, RetrievePath(), and PlannerBase::StartTimer().

Referenced by PL_RGD_Constraint::Plan().

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

Definition at line 1488 of file PL_RGD_Constraint.cpp.

References GetPathFromTree(), InsertPath(), and PL_Boolean_Output::path.

Referenced by Plan().

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Member Data Documentation

vertex PL_RGD_RRT::m_goalVert [protected]
 

Definition at line 102 of file PL_RGD_Constraint.h.

Referenced by ConnectToGoal(), PL_RGD_RRT(), and Plan().

vertex PL_RGD_RRT::m_rootVert [protected]
 

Definition at line 103 of file PL_RGD_Constraint.h.

Referenced by CreateTree(), PL_RGD_RRT(), and ~PL_RGD_RRT().

dynamic_trees PL_RGD_RRT::m_trajTree [protected]
 

Definition at line 107 of file PL_RGD_Constraint.h.

Referenced by DrawExplicit().

std::vector<vertex> PL_RGD_RRT::m_vertices [protected]
 

Definition at line 108 of file PL_RGD_Constraint.h.

Referenced by AddNodeInTree(), ClearTree(), CreateTree(), DrawExplicit(), and FindClosestInTree().

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