PL_PRM_ClosedLocalJacobian Class Reference

#include <planners/closedchain/PL_PRM_ClosedChain.h>

Inherits PL_PRM_ClosedBase.

Inherited by PL_PRM_ClosedChain [virtual].

Inheritance diagram for PL_PRM_ClosedLocalJacobian:

[legend]Collaboration diagram for PL_PRM_ClosedLocalJacobian:

[legend]List of all members.

Public Member Functions
	PL_PRM_ClosedLocalJacobian ()
	~PL_PRM_ClosedLocalJacobian ()
virtual bool	Plan ()
virtual void	SetCollisionDetector (CD_BasicStyle *collisionDetector)
virtual bool	MakeItClosed (Configuration &conf)
virtual bool	IsInterfering (const Configuration &c1, const Configuration &c2)
Protected Attributes
LocalPlannerClosed *	planner
CD_BasicStyle *	pCollisionDetector

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Detailed Description

Definition at line 77 of file PL_PRM_ClosedChain.h.

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Constructor & Destructor Documentation

PL_PRM_ClosedLocalJacobian::PL_PRM_ClosedLocalJacobian (   )

Definition at line 322 of file PL_PRM_ClosedChain.cpp. References pCollisionDetector, and planner.

PL_PRM_ClosedLocalJacobian::~PL_PRM_ClosedLocalJacobian (   )

Definition at line 328 of file PL_PRM_ClosedChain.cpp. References pCollisionDetector, and planner.

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Member Function Documentation

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

Implements PL_PRM_ClosedBase. Reimplemented in PL_PRM_ClosedChain. Definition at line 389 of file PL_PRM_ClosedChain.cpp. Referenced by PL_PRM_ClosedChain::IsInterfering().

bool PL_PRM_ClosedLocalJacobian::MakeItClosed (  Configuration &  conf  )  [virtual]

Implements PL_PRM_ClosedBase. Reimplemented in PL_PRM_ClosedChain. Definition at line 384 of file PL_PRM_ClosedChain.cpp. Referenced by PL_PRM_ClosedChain::MakeItClosed().

bool PL_PRM_ClosedLocalJacobian::Plan (   )  [virtual]

Reimplemented from PL_PRM_ClosedBase. Reimplemented in PL_PRM_ClosedChain, PL_RRT_ClosedChain, PL_PRM_ClosedChain, and PL_RRT_ClosedChain. Definition at line 350 of file PL_PRM_ClosedChain.cpp. References PA_Points::Clear(), PlannerBase::GetGoalConfig(), PL_Boolean_Output::GetPath(), PlannerBase::GetStartConfig(), PlannerBase::GetTimeLimitInSeconds(), PL_Boolean_Output::path, LocalPlannerClosed::Plan(), planner, PlannerBase::SetGoalConfig(), IK_Jacobian::SetHomogeneousGain(), IK_Jacobian::SetNumObstaclePt(), IK_Jacobian::SetObstacleTolerance(), IK_Jacobian::SetOrientation(), IK_Jacobian::SetPathTolerence(), IK_Jacobian::SetPosition(), PlannerBase::SetStartConfig(), PlannerBase::SetTimeLimitInSeconds(), and PlannerBase::StartTimer(). Here is the call graph for this function:

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

Reimplemented from PL_PRM. Reimplemented in PL_PRM_ClosedChain, PL_RRT_ClosedChain, PL_PRM_ClosedChain, and PL_RRT_ClosedChain. Definition at line 337 of file PL_PRM_ClosedChain.cpp. References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DeactivateFrames(), CD_BasicStyle::DOF(), CollisionDetectorBase::GetUniverse(), pCollisionDetector, planner, IK_Jacobian::SetCollisionDetector(), and PL_PRM::SetCollisionDetector(). Here is the call graph for this function:

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Member Data Documentation

CD_BasicStyle* PL_PRM_ClosedLocalJacobian::pCollisionDetector [protected]

Reimplemented in PL_PRM_ClosedChain. Definition at line 90 of file PL_PRM_ClosedChain.h. Referenced by PL_PRM_ClosedLocalJacobian(), SetCollisionDetector(), and ~PL_PRM_ClosedLocalJacobian().

LocalPlannerClosed* PL_PRM_ClosedLocalJacobian::planner [protected]

Reimplemented in PL_PRM_ClosedChain. Definition at line 89 of file PL_PRM_ClosedChain.h. Referenced by PL_PRM_ClosedLocalJacobian(), Plan(), SetCollisionDetector(), and ~PL_PRM_ClosedLocalJacobian().

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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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