PL_MPEP Class Reference

#include <planners/ik_mpep/PL_MPEP.h>

Inherits PL_Boolean_Output, and PL_OpenGL.

Inheritance diagram for PL_MPEP:

[legend]Collaboration diagram for PL_MPEP:


Public Member Functions
	PL_MPEP ()
virtual	~PL_MPEP ()
virtual void	SetCollisionDetector (CD_BasicStyle *collisionDetector)
virtual bool	DrawExplicit () const
virtual bool	Plan ()
Frame	GetToolFrame (const Configuration &config) const
void	SetTrajectory (std::vector< Frame > &traj)
void	SetPassiveNum (unsigned int num)
void	SetAlgorithm (unsigned int alg)
void	SetTolerance (double dist)
void	SetUsingStartConfig (bool use)
void	SetUsingGoalConfig (bool use)
void	SetRandomRetry (unsigned int retry)
void	SetExtendNum (unsigned int num)
void	SetExploreNum (unsigned int num)
void	SetIterationNum (unsigned int num)
void	SetSMGNodeNum (unsigned int num)
void	SetUsingJacobianExt (bool use)
Protected Member Functions
bool	GetConfigurationByDirection (Configuration &conf, Configuration &base, Configuration &direct)
bool	GetRandomConfiguration (Configuration &conf)
bool	GetRandomConfiguration (Configuration &conf, Frame &frame)
bool	GetRandomConfiguration (Configuration &conf, Frame &frame, Configuration &bias)
int	Greedy_Step (int &begin, int end, vertex &base)
int	RRT_Extend_Like (dynamic_trees &tr, std::vector< vertex > &vert, int &extPose, vertex &extended, int dir=1)
int	Step (dynamic_trees &tr, std::vector< vertex > &vert, int begin, int end, vertex &base, int dir=1)
bool	IsJointWithinLimits (Configuration &config)
bool	AdjustConfiguration (Configuration &config, int nPose)
int	Extend_Node_Self_Motion_Graph_Jacobian (vertex g_vertex, Configuration **nextConf)
int	Establish_Self_Motion_Graph (dynamic_trees &tr, vertex extended)
int	Extend_Node_Self_Motion_Graph (vertex g_vertex, Configuration **)
int	CheckConnectivity (dynamic_trees &tr, std::vector< vertex > &vert, vertex extendedVert, vertex &connectedVert, int dir)
int	Planner_Greedy ()
int	Planner_RRT_Like ()
int	Planner_RRT_Connect_Like ()
int	Planner_RRT_Greedy_Like ()
int	Planner_RRT_Greedy_Connect ()
int	Planner_IMP_Greedy ()
int	Planner_SMG_Greedy ()
int	Planner_SMG_RRT_Connect_Like ()
int	Planner_SMG_RRT_Greedy_Like ()
void	ClearTree ()
int	InitializeTree ()
void	RetrievePathFromTree ()
vertex	ConnectNode (dynamic_trees &tr, std::vector< vertex > &vert, vertex &parent, Pose_Node &child)
vertex	GetNearestNodeInTree (dynamic_trees &tr, std::vector< vertex > &vert, Configuration &conf)
vertex	GetClosestPoseVert (dynamic_trees &tr, std::vector< vertex > &vert)
void *	GetNearestNodeInGraph (SMGraph graph, Configuration conf)
double	Distance (Configuration &conf1, Configuration &conf2)
double	DistanceInActiveJoints (Configuration &conf1, Configuration &conf2)
void	Display_Error_Message (int result)
Protected Attributes
R_OpenChain *	m_pRobot
int	m_nDof
int	m_nToolFrame
Frame	m_frEndEffector
CJacobian *	m_pJacobian
CRedundant	redundant
vertex	goalPoseVertex
vertex	goalPoseVertex2
vertex	startPoseVertex
dynamic_trees	tree
std::vector< vertex >	vertices
dynamic_trees	goal_tree
std::vector< vertex >	goal_vertices
std::vector< vertex >	itinerary
std::vector< Frame >	poses
unsigned int	algorithm
unsigned int	passiveNum
unsigned int	randomRetry
unsigned int	extendNum
unsigned int	exploreNum
unsigned int	iterationNum
unsigned int	smgNodeNum
double	distTolerance
bool	usingStartConfig
bool	usingGoalConfig
bool	usingGoalTree
bool	usingJacobianExt

Detailed Description

Definition at line 89 of file PL_MPEP.h.

Constructor & Destructor Documentation

PL_MPEP::PL_MPEP ( )

Definition at line 72 of file PL_MPEP.cpp.
References ALG_GREEDY_PLANNER, algorithm, ClearTree(), DEFAULT_EXPLORE_RETRY, DEFAULT_EXTEND_RETRY, DEFAULT_ITERATION, DEFAULT_RANDOM_RETRY, DEFAULT_SMGNODE_NUM, DEFAULT_TOLERANCE, distTolerance, exploreNum, extendNum, iterationNum, m_pJacobian, passiveNum, randomRetry, smgNodeNum, usingGoalConfig, usingGoalTree, usingJacobianExt, and usingStartConfig.
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PL_MPEP::~PL_MPEP ( ) [virtual]

Definition at line 90 of file PL_MPEP.cpp.
References ClearTree(), and m_pJacobian.
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Member Function Documentation

bool PL_MPEP::AdjustConfiguration ( Configuration & config,

int nPose

) [protected]

Reimplemented in PL_ForTest.
Definition at line 259 of file PL_MPEP.cpp.
References DEF_ERROR_TOLERANCE, CJacobian::GetMatrix(), GetToolFrame(), Frame::GetTranslationVector(), Matrixmxn::Inverse(), m_frEndEffector, m_nDof, m_pJacobian, Vector4::Magnitude(), poses, Rad2Deg(), CJacobian::SetConfiguration(), and CJacobian::SetInterestPoint().
Referenced by Extend_Node_Self_Motion_Graph_Jacobian().
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int PL_MPEP::CheckConnectivity ( dynamic_trees & tr,

std::vector< vertex > & vert,

vertex extendedVert,

vertex & connectedVert,

int dir

) [protected]

Definition at line 552 of file PL_MPEP.cpp.
References PL_HasCollisionDetector::collisionDetector, Pose_Node::conf, SMGraph::FirstNode(), SMGraph::GetConfiguration(), Pose_Node::graph, CD_Linear::IsInterferingLinear(), SMGraph::NextNode(), Pose_Node::poses, and tree.
Referenced by Planner_SMG_RRT_Connect_Like().
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void PL_MPEP::ClearTree ( ) [protected]

Definition at line 1560 of file PL_MPEP.cpp.
References PlannerBase::guid, Semaphore::Lock(), numTotalNode, tree, and vertices.
Referenced by InitializeTree(), PL_MPEP(), and ~PL_MPEP().
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vertex PL_MPEP::ConnectNode ( dynamic_trees & tr,

std::vector< vertex > & vert,

vertex & parent,

Pose_Node & child

) [protected]

Definition at line 1594 of file PL_MPEP.cpp.
References Pose_Node::conf, Pose_Node::graph, PlannerBase::guid, Semaphore::Lock(), Pose_Node::poses, and Semaphore::Unlock().
Referenced by Greedy_Step(), and Step().
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void PL_MPEP::Display_Error_Message ( int result ) [protected]

Definition at line 1908 of file PL_MPEP.cpp.
References ERROR_GET_COLLISION_FREE_FAILURE, ERROR_GET_RANDOM_CONF_FAILURE, ERROR_GOAL_CONFIG_INVALID, ERROR_PLANNING_TIMEOUT, ERROR_RRT_EXTEND_FAILURE, ERROR_SMGRAPH_FULL, and ERROR_START_CONFIG_INVALID.

double PL_MPEP::Distance ( Configuration & conf1,

Configuration & conf2

) [protected]

Definition at line 1700 of file PL_MPEP.cpp.
References PL_HasCollisionDetector::collisionDetector, CD_JointLimits::JointDisplacement(), VectorN::Length(), and Sqr().
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double PL_MPEP::DistanceInActiveJoints ( Configuration & conf1,

Configuration & conf2

) [protected]

Definition at line 1714 of file PL_MPEP.cpp.
References PL_HasCollisionDetector::collisionDetector, CD_JointLimits::JointDisplacement(), VectorN::Length(), passiveNum, and Sqr().
Referenced by GetNearestNodeInGraph(), and GetNearestNodeInTree().
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bool PL_MPEP::DrawExplicit ( ) const [virtual]

Reimplemented from PL_OpenGL.
Reimplemented in PL_ForTest.
Definition at line 1941 of file PL_MPEP.cpp.
References SMGraph::GetConfig(), SMGraph::GetSMGraph(), Pose_Node::graph, Semaphore::Lock(), tree, and vertices.
Referenced by PL_ForTest::DrawExplicit().
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int PL_MPEP::Establish_Self_Motion_Graph ( dynamic_trees & tr,

vertex extended

) [protected]

Reimplemented in PL_ForTest.
Definition at line 470 of file PL_MPEP.cpp.
References Pose_Node::conf, ERROR_OK, Extend_Node_Self_Motion_Graph(), Extend_Node_Self_Motion_Graph_Jacobian(), Pose_Node::graph, SMGraph::Node_Num(), numFinalSMGNode, numFinalSMGraph, numSMGNode, numSMGraph, smgNodeNum, and usingJacobianExt.
Referenced by Planner_SMG_Greedy(), and Planner_SMG_RRT_Greedy_Like().
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int PL_MPEP::Extend_Node_Self_Motion_Graph ( vertex g_vertex,

Configuration **

) [protected]

Reimplemented in PL_ForTest.
Definition at line 416 of file PL_MPEP.cpp.
References PL_HasCollisionDetector::collisionDetector, distTolerance, SMGraph::GetConfiguration(), CRedundant::GetConfigurationByActive(), GetConfigurationByDirection(), GetNearestNodeInGraph(), GetRandomConfiguration(), Pose_Node::graph, CD_Bool::IsInterfering(), CD_Linear::IsInterferingLinear(), Pose_Node::poses, poses, randomRetry, redundant, and tree.
Referenced by Establish_Self_Motion_Graph().
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int PL_MPEP::Extend_Node_Self_Motion_Graph_Jacobian ( vertex g_vertex,

Configuration ** nextConf

) [protected]

Reimplemented in PL_ForTest.
Definition at line 317 of file PL_MPEP.cpp.
References AdjustConfiguration(), PL_HasCollisionDetector::collisionDetector, DEF_SMG_STEPSIZE, SMGraph::GetConfiguration(), CJacobian::GetMatrix(), GetNearestNodeInGraph(), GetRandomConfiguration(), Pose_Node::graph, Matrixmxn::Inverse(), CD_Bool::IsInterfering(), CD_Linear::IsInterferingLinear(), IsJointWithinLimits(), m_nDof, m_pJacobian, Pose_Node::poses, randomRetry, and tree.
Referenced by Establish_Self_Motion_Graph().
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vertex PL_MPEP::GetClosestPoseVert ( dynamic_trees & tr,

std::vector< vertex > & vert

) [protected]

Definition at line 1673 of file PL_MPEP.cpp.
References Pose_Node::poses.
Referenced by Planner_RRT_Greedy_Connect(), and Planner_RRT_Greedy_Like().

bool PL_MPEP::GetConfigurationByDirection ( Configuration & conf,

Configuration & base,

Configuration & direct

) [protected]

Definition at line 1729 of file PL_MPEP.cpp.
References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DOF(), passiveNum, and VectorN::SetLength().
Referenced by Extend_Node_Self_Motion_Graph(), PL_ForTest::Extend_Node_Self_Motion_Graph(), and RRT_Extend_Like().
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void * PL_MPEP::GetNearestNodeInGraph ( SMGraph * graph,

Configuration * conf

) [protected]

Definition at line 1446 of file PL_MPEP.cpp.
References DistanceInActiveJoints(), Configuration::DOF(), SMGraph::FirstNode(), SMGraph::GetConfiguration(), and SMGraph::NextNode().
Referenced by Extend_Node_Self_Motion_Graph(), PL_ForTest::Extend_Node_Self_Motion_Graph(), Extend_Node_Self_Motion_Graph_Jacobian(), and PL_ForTest::Extend_Node_Self_Motion_Graph_Jacobian().
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vertex PL_MPEP::GetNearestNodeInTree ( dynamic_trees & tr,

std::vector< vertex > & vert,

Configuration & conf

) [protected]

Definition at line 1420 of file PL_MPEP.cpp.
References Pose_Node::conf, and DistanceInActiveJoints().
Referenced by RRT_Extend_Like().
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bool PL_MPEP::GetRandomConfiguration ( Configuration & conf,

Frame & frame,

Configuration & bias

) [protected]

Definition at line 1781 of file PL_MPEP.cpp.
References distTolerance, CRedundant::GetRandomConfiguration(), GetRandomConfiguration(), and redundant.
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bool PL_MPEP::GetRandomConfiguration ( Configuration & conf,

Frame & frame

) [protected]

Definition at line 1769 of file PL_MPEP.cpp.
References CRedundant::GetRandomConfiguration(), and redundant.
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bool PL_MPEP::GetRandomConfiguration ( Configuration & conf ) [protected]

Definition at line 1758 of file PL_MPEP.cpp.
References CRedundant::GetRandomConfiguration(), and redundant.
Referenced by Extend_Node_Self_Motion_Graph(), PL_ForTest::Extend_Node_Self_Motion_Graph(), Extend_Node_Self_Motion_Graph_Jacobian(), PL_ForTest::Extend_Node_Self_Motion_Graph_Jacobian(), GetRandomConfiguration(), Greedy_Step(), RRT_Extend_Like(), and Step().
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Frame PL_MPEP::GetToolFrame ( const Configuration & config ) const

Definition at line 102 of file PL_MPEP.cpp.
References CRedundant::GetDesireFrameByConfiguration(), and redundant.
Referenced by AdjustConfiguration(), PL_ForTest::AdjustConfiguration(), and PL_ForTest::FindLocalPath().
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int PL_MPEP::Greedy_Step ( int & begin,

int end,

vertex & base

) [protected]

Definition at line 214 of file PL_MPEP.cpp.
References PL_HasCollisionDetector::collisionDetector, Pose_Node::conf, ConnectNode(), exploreNum, GetRandomConfiguration(), Pose_Node::graph, CD_Bool::IsInterfering(), CD_Linear::IsInterferingLinear(), Pose_Node::poses, poses, tree, and vertices.
Referenced by Planner_IMP_Greedy(), and Planner_SMG_Greedy().
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int PL_MPEP::InitializeTree ( ) [protected]

Definition at line 1473 of file PL_MPEP.cpp.
References _FIRST_POSE, ClearTree(), PL_HasCollisionDetector::collisionDetector, Pose_Node::conf, ERROR_START_CONFIG_INVALID, CRedundant::GetRandomConfiguration(), PlannerBase::GetStartConfig(), PlannerBase::guid, CD_Bool::IsInterfering(), poses, Pose_Node::poses, randomRetry, redundant, and usingStartConfig.
Referenced by Planner_Greedy(), Planner_IMP_Greedy(), Planner_RRT_Connect_Like(), Planner_RRT_Greedy_Connect(), Planner_RRT_Greedy_Like(), Planner_RRT_Like(), Planner_SMG_Greedy(), Planner_SMG_RRT_Connect_Like(), and Planner_SMG_RRT_Greedy_Like().
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bool PL_MPEP::IsJointWithinLimits ( Configuration & config ) [protected]

Reimplemented in PL_ForTest.
Definition at line 300 of file PL_MPEP.cpp.
References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::JointMin(), and m_nDof.
Referenced by Extend_Node_Self_Motion_Graph_Jacobian().
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bool PL_MPEP::Plan ( ) [virtual]

Implements PlannerBase.
Reimplemented in PL_ForTest.
Definition at line 116 of file PL_MPEP.cpp.
References PA_Points::Clear(), PL_HasCollisionDetector::collisionDetector, ERROR_OK, ERROR_START_CONFIG_INVALID, PlannerBase::GetGoalConfig(), PlannerBase::GetStartConfig(), PlannerBase::goalConfig, CD_Bool::IsInterfering(), m_pJacobian, m_pRobot, numTotalNode, PL_Boolean_Output::path, PlannerBase::startConfig, and usingStartConfig.
Referenced by RRT_TrajPlanner::Plan().
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int PL_MPEP::Planner_Greedy ( ) [protected]

Definition at line 1036 of file PL_MPEP.cpp.
References _FIRST_POSE, _LAST_POSE, ERROR_OK, ERROR_PLANNING_TIMEOUT, goalPoseVertex, PlannerBase::HasTimeLimitExpired(), InitializeTree(), iterationNum, RetrievePathFromTree(), Step(), tree, usingGoalTree, and vertices.
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int PL_MPEP::Planner_IMP_Greedy ( ) [protected]

Definition at line 968 of file PL_MPEP.cpp.
References _FIRST_POSE, _LAST_POSE, ERROR_OK, ERROR_PLANNING_TIMEOUT, goalPoseVertex, Greedy_Step(), PlannerBase::HasTimeLimitExpired(), InitializeTree(), iterationNum, RetrievePathFromTree(), tree, usingGoalTree, and vertices.
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int PL_MPEP::Planner_RRT_Connect_Like ( ) [protected]

Definition at line 1144 of file PL_MPEP.cpp.
References _LAST_POSE, ERROR_OK, ERROR_PLANNING_TIMEOUT, ERROR_RRT_EXTEND_FAILURE, extendNum, goalPoseVertex, PlannerBase::HasTimeLimitExpired(), InitializeTree(), iterationNum, RetrievePathFromTree(), RRT_Extend_Like(), Step(), tree, usingGoalTree, and vertices.
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int PL_MPEP::Planner_RRT_Greedy_Connect ( ) [protected]

Definition at line 1269 of file PL_MPEP.cpp.
References _LAST_POSE, ERROR_OK, ERROR_PLANNING_TIMEOUT, ERROR_RRT_EXTEND_FAILURE, extendNum, GetClosestPoseVert(), goalPoseVertex, PlannerBase::HasTimeLimitExpired(), InitializeTree(), iterationNum, Pose_Node::poses, RetrievePathFromTree(), RRT_Extend_Like(), Step(), tree, usingGoalTree, and vertices.
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int PL_MPEP::Planner_RRT_Greedy_Like ( ) [protected]

Definition at line 1202 of file PL_MPEP.cpp.
References _LAST_POSE, ERROR_OK, ERROR_PLANNING_TIMEOUT, ERROR_RRT_EXTEND_FAILURE, extendNum, GetClosestPoseVert(), goalPoseVertex, PlannerBase::HasTimeLimitExpired(), InitializeTree(), iterationNum, Pose_Node::poses, RetrievePathFromTree(), RRT_Extend_Like(), Step(), tree, usingGoalTree, and vertices.
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int PL_MPEP::Planner_RRT_Like ( ) [protected]

Definition at line 1090 of file PL_MPEP.cpp.
References _FIRST_POSE, _LAST_POSE, ERROR_OK, ERROR_PLANNING_TIMEOUT, ERROR_RRT_EXTEND_FAILURE, extendNum, goalPoseVertex, PlannerBase::HasTimeLimitExpired(), InitializeTree(), iterationNum, RetrievePathFromTree(), RRT_Extend_Like(), tree, usingGoalTree, and vertices.
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int PL_MPEP::Planner_SMG_Greedy ( ) [protected]

Definition at line 880 of file PL_MPEP.cpp.
References _FIRST_POSE, _LAST_POSE, ERROR_OK, ERROR_PLANNING_TIMEOUT, Establish_Self_Motion_Graph(), PlannerBase::GetTimeElapsedInSeconds(), goalPoseVertex, Greedy_Step(), PlannerBase::HasTimeLimitExpired(), InitializeTree(), iterationNum, LogMessage, numFinalSMGNode, numFinalSMGraph, numSMGNode, numSMGraph, RetrievePathFromTree(), tree, usingGoalTree, and vertices.
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int PL_MPEP::Planner_SMG_RRT_Connect_Like ( ) [protected]

Definition at line 620 of file PL_MPEP.cpp.
References _FIRST_POSE, _LAST_POSE, CheckConnectivity(), ERROR_OK, ERROR_PLANNING_TIMEOUT, ERROR_RRT_EXTEND_FAILURE, extendNum, goal_tree, goal_vertices, goalPoseVertex, goalPoseVertex2, PlannerBase::HasTimeLimitExpired(), InitializeTree(), iterationNum, RetrievePathFromTree(), RRT_Extend_Like(), Step(), tree, usingGoalTree, and vertices.
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int PL_MPEP::Planner_SMG_RRT_Greedy_Like ( ) [protected]

Definition at line 778 of file PL_MPEP.cpp.
References _FIRST_POSE, _LAST_POSE, ERROR_OK, ERROR_PLANNING_TIMEOUT, ERROR_RRT_EXTEND_FAILURE, Establish_Self_Motion_Graph(), extendNum, goalPoseVertex, goalPoseVertex2, PlannerBase::HasTimeLimitExpired(), InitializeTree(), iterationNum, LogMessage, numFinalSMGNode, numFinalSMGraph, numSMGNode, numSMGraph, RetrievePathFromTree(), RRT_Extend_Like(), Step(), tree, usingGoalTree, and vertices.
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void PL_MPEP::RetrievePathFromTree ( ) [protected]

Definition at line 1613 of file PL_MPEP.cpp.
References PA_Points::AppendPoint(), goal_tree, goalPoseVertex, goalPoseVertex2, itinerary, numSMGNodeInPath, numSMGraphInPath, numTotalNode, PL_Boolean_Output::path, tree, usingGoalTree, and vertices.
Referenced by Planner_Greedy(), Planner_IMP_Greedy(), Planner_RRT_Connect_Like(), Planner_RRT_Greedy_Connect(), Planner_RRT_Greedy_Like(), Planner_RRT_Like(), Planner_SMG_Greedy(), Planner_SMG_RRT_Connect_Like(), and Planner_SMG_RRT_Greedy_Like().
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int PL_MPEP::RRT_Extend_Like ( dynamic_trees & tr,

std::vector< vertex > & vert,

int & extPose,

vertex & extended,

int dir = 1

) [protected]

Definition at line 1323 of file PL_MPEP.cpp.
References PL_HasCollisionDetector::collisionDetector, Pose_Node::conf, distTolerance, CRedundant::GetConfigurationByActive(), GetConfigurationByDirection(), GetNearestNodeInTree(), GetRandomConfiguration(), CD_Bool::IsInterfering(), CD_Linear::IsInterferingLinear(), Pose_Node::poses, poses, and redundant.
Referenced by Planner_RRT_Connect_Like(), Planner_RRT_Greedy_Connect(), Planner_RRT_Greedy_Like(), Planner_RRT_Like(), Planner_SMG_RRT_Connect_Like(), and Planner_SMG_RRT_Greedy_Like().
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void PL_MPEP::SetAlgorithm ( unsigned int alg )

Definition at line 1864 of file PL_MPEP.cpp.
References algorithm.
Referenced by RRT_TrajPlanner::Plan().

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

Reimplemented from PL_HasCollisionDetector.
Reimplemented in PL_ForTest.
Definition at line 1797 of file PL_MPEP.cpp.
References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DOF(), CD_BasicStyle::GetFrameManager(), FrameManager::GetFrameRef(), CD_BasicStyle::GetRobot(), R_OpenChain::GetToolFrame(), Matrix4x4::Identity(), m_frEndEffector, m_nDof, m_nToolFrame, m_pJacobian, m_pRobot, redundant, CRedundant::SetActiveBaseFrame(), CRedundant::SetActiveFirstJoint(), CRedundant::SetActiveLastJoint(), CRedundant::SetCollisionDetector(), PL_HasCollisionDetector::SetCollisionDetector(), CRedundant::SetFrameManager(), CRedundant::SetPassiveBaseFrame(), CRedundant::SetPassiveFirstJoint(), and CRedundant::SetPassiveLastJoint().
Referenced by ServerBase::RefreshPlanner(), PL_ForTest::SetCollisionDetector(), and RRT_TrajPlanner::SetCollisionDetector().
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void PL_MPEP::SetExploreNum ( unsigned int num )

Definition at line 1840 of file PL_MPEP.cpp.
References exploreNum.
Referenced by RRT_TrajPlanner::Plan().

void PL_MPEP::SetExtendNum ( unsigned int num )

Definition at line 1845 of file PL_MPEP.cpp.
References extendNum.
Referenced by RRT_TrajPlanner::Plan().

void PL_MPEP::SetIterationNum ( unsigned int num )

Definition at line 1835 of file PL_MPEP.cpp.
References iterationNum.
Referenced by RRT_TrajPlanner::Plan().

void PL_MPEP::SetPassiveNum ( unsigned int num )

Definition at line 1850 of file PL_MPEP.cpp.
References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DOF(), passiveNum, redundant, CRedundant::SetActiveBaseFrame(), CRedundant::SetActiveFirstJoint(), CRedundant::SetActiveLastJoint(), CRedundant::SetPassiveBaseFrame(), CRedundant::SetPassiveFirstJoint(), and CRedundant::SetPassiveLastJoint().
Referenced by RRT_TrajPlanner::Plan().
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void PL_MPEP::SetRandomRetry ( unsigned int retry )

Definition at line 1898 of file PL_MPEP.cpp.
Referenced by RRT_TrajPlanner::Plan().

void PL_MPEP::SetSMGNodeNum ( unsigned int num )

void PL_MPEP::SetTolerance ( double dist )

Definition at line 1883 of file PL_MPEP.cpp.
References distTolerance.
Referenced by RRT_TrajPlanner::Plan().

void PL_MPEP::SetTrajectory ( std::vector< Frame > & traj )

Definition at line 1869 of file PL_MPEP.cpp.
References poses.
Referenced by RRT_TrajPlanner::SetTrajectory().

void PL_MPEP::SetUsingGoalConfig ( bool use )

Definition at line 1893 of file PL_MPEP.cpp.
References usingGoalConfig.
Referenced by RRT_TrajPlanner::Plan().

void PL_MPEP::SetUsingJacobianExt ( bool use )

Definition at line 1878 of file PL_MPEP.cpp.
References usingJacobianExt.

void PL_MPEP::SetUsingStartConfig ( bool use )

Definition at line 1888 of file PL_MPEP.cpp.
References usingStartConfig.
Referenced by RRT_TrajPlanner::Plan().

int PL_MPEP::Step ( dynamic_trees & tr,

std::vector< vertex > & vert,

int begin,

int end,

vertex & base,

int dir = 1

) [protected]

Definition at line 1367 of file PL_MPEP.cpp.
References PL_HasCollisionDetector::collisionDetector, Pose_Node::conf, ConnectNode(), exploreNum, GetRandomConfiguration(), Pose_Node::graph, CD_Bool::IsInterfering(), CD_Linear::IsInterferingLinear(), Pose_Node::poses, and poses.
Referenced by Planner_Greedy(), Planner_RRT_Connect_Like(), Planner_RRT_Greedy_Connect(), Planner_RRT_Greedy_Like(), Planner_SMG_RRT_Connect_Like(), and Planner_SMG_RRT_Greedy_Like().
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Member Data Documentation

unsigned int PL_MPEP::algorithm [protected]

Definition at line 222 of file PL_MPEP.h.
Referenced by PL_MPEP(), and SetAlgorithm().

double PL_MPEP::distTolerance [protected]

Definition at line 229 of file PL_MPEP.h.
Referenced by Extend_Node_Self_Motion_Graph(), PL_ForTest::Extend_Node_Self_Motion_Graph(), GetRandomConfiguration(), PL_MPEP(), RRT_Extend_Like(), and SetTolerance().

unsigned int PL_MPEP::exploreNum [protected]

Definition at line 226 of file PL_MPEP.h.
Referenced by Greedy_Step(), PL_MPEP(), SetExploreNum(), and Step().

unsigned int PL_MPEP::extendNum [protected]

Definition at line 225 of file PL_MPEP.h.
Referenced by PL_MPEP(), Planner_RRT_Connect_Like(), Planner_RRT_Greedy_Connect(), Planner_RRT_Greedy_Like(), Planner_RRT_Like(), Planner_SMG_RRT_Connect_Like(), Planner_SMG_RRT_Greedy_Like(), and SetExtendNum().

dynamic_trees PL_MPEP::goal_tree [protected]

Definition at line 211 of file PL_MPEP.h.
Referenced by Planner_SMG_RRT_Connect_Like(), and RetrievePathFromTree().

std::vector<vertex> PL_MPEP::goal_vertices [protected]

Definition at line 212 of file PL_MPEP.h.
Referenced by Planner_SMG_RRT_Connect_Like().

vertex PL_MPEP::goalPoseVertex [protected]

Definition at line 195 of file PL_MPEP.h.
Referenced by Planner_Greedy(), Planner_IMP_Greedy(), Planner_RRT_Connect_Like(), Planner_RRT_Greedy_Connect(), Planner_RRT_Greedy_Like(), Planner_RRT_Like(), Planner_SMG_Greedy(), Planner_SMG_RRT_Connect_Like(), Planner_SMG_RRT_Greedy_Like(), and RetrievePathFromTree().

vertex PL_MPEP::goalPoseVertex2 [protected]

Definition at line 196 of file PL_MPEP.h.
Referenced by Planner_SMG_RRT_Connect_Like(), Planner_SMG_RRT_Greedy_Like(), and RetrievePathFromTree().

unsigned int PL_MPEP::iterationNum [protected]

Definition at line 227 of file PL_MPEP.h.
Referenced by PL_MPEP(), Planner_Greedy(), Planner_IMP_Greedy(), Planner_RRT_Connect_Like(), Planner_RRT_Greedy_Connect(), Planner_RRT_Greedy_Like(), Planner_RRT_Like(), Planner_SMG_Greedy(), Planner_SMG_RRT_Connect_Like(), Planner_SMG_RRT_Greedy_Like(), and SetIterationNum().

std::vector<vertex> PL_MPEP::itinerary [protected]

Definition at line 215 of file PL_MPEP.h.
Referenced by RetrievePathFromTree().

Frame PL_MPEP::m_frEndEffector [protected]

Reimplemented in PL_ForTest.
Definition at line 187 of file PL_MPEP.h.
Referenced by AdjustConfiguration(), and SetCollisionDetector().

int PL_MPEP::m_nDof [protected]

Reimplemented in PL_ForTest.
Definition at line 185 of file PL_MPEP.h.
Referenced by AdjustConfiguration(), Extend_Node_Self_Motion_Graph_Jacobian(), IsJointWithinLimits(), and SetCollisionDetector().

int PL_MPEP::m_nToolFrame [protected]

Reimplemented in PL_ForTest.
Definition at line 186 of file PL_MPEP.h.
Referenced by SetCollisionDetector().

CJacobian* PL_MPEP::m_pJacobian [protected]

Reimplemented in PL_ForTest.
Definition at line 188 of file PL_MPEP.h.
Referenced by AdjustConfiguration(), Extend_Node_Self_Motion_Graph_Jacobian(), PL_MPEP(), Plan(), SetCollisionDetector(), and ~PL_MPEP().

R_OpenChain* PL_MPEP::m_pRobot [protected]

Reimplemented in PL_ForTest.
Definition at line 184 of file PL_MPEP.h.
Referenced by Plan(), and SetCollisionDetector().

unsigned int PL_MPEP::passiveNum [protected]

Definition at line 223 of file PL_MPEP.h.
Referenced by DistanceInActiveJoints(), GetConfigurationByDirection(), PL_MPEP(), and SetPassiveNum().

std::vector<Frame> PL_MPEP::poses [protected]

Definition at line 219 of file PL_MPEP.h.
Referenced by AdjustConfiguration(), PL_ForTest::AdjustConfiguration(), Extend_Node_Self_Motion_Graph(), PL_ForTest::Extend_Node_Self_Motion_Graph(), PL_ForTest::FindLocalPath(), PL_ForTest::FindLocalPath2(), Greedy_Step(), InitializeTree(), RRT_Extend_Like(), SetTrajectory(), and Step().

unsigned int PL_MPEP::randomRetry [protected]

Definition at line 224 of file PL_MPEP.h.
Referenced by Extend_Node_Self_Motion_Graph(), PL_ForTest::Extend_Node_Self_Motion_Graph(), Extend_Node_Self_Motion_Graph_Jacobian(), PL_ForTest::Extend_Node_Self_Motion_Graph_Jacobian(), InitializeTree(), and PL_MPEP().

CRedundant PL_MPEP::redundant [protected]

Definition at line 192 of file PL_MPEP.h.
Referenced by Extend_Node_Self_Motion_Graph(), PL_ForTest::Extend_Node_Self_Motion_Graph(), GetRandomConfiguration(), GetToolFrame(), InitializeTree(), RRT_Extend_Like(), SetCollisionDetector(), and SetPassiveNum().

unsigned int PL_MPEP::smgNodeNum [protected]

Definition at line 228 of file PL_MPEP.h.
Referenced by Establish_Self_Motion_Graph(), PL_ForTest::Establish_Self_Motion_Graph(), PL_ForTest::PL_ForTest(), and PL_MPEP().

vertex PL_MPEP::startPoseVertex [protected]

Definition at line 201 of file PL_MPEP.h.

dynamic_trees PL_MPEP::tree [protected]

Definition at line 206 of file PL_MPEP.h.
Referenced by CheckConnectivity(), ClearTree(), DrawExplicit(), Extend_Node_Self_Motion_Graph(), PL_ForTest::Extend_Node_Self_Motion_Graph(), Extend_Node_Self_Motion_Graph_Jacobian(), PL_ForTest::Extend_Node_Self_Motion_Graph_Jacobian(), Greedy_Step(), Planner_Greedy(), Planner_IMP_Greedy(), Planner_RRT_Connect_Like(), Planner_RRT_Greedy_Connect(), Planner_RRT_Greedy_Like(), Planner_RRT_Like(), Planner_SMG_Greedy(), Planner_SMG_RRT_Connect_Like(), Planner_SMG_RRT_Greedy_Like(), PL_ForTest::RemoveNode(), and RetrievePathFromTree().

bool PL_MPEP::usingGoalConfig [protected]

Definition at line 231 of file PL_MPEP.h.
Referenced by PL_MPEP(), PL_ForTest::Plan(), and SetUsingGoalConfig().

bool PL_MPEP::usingGoalTree [protected]

Definition at line 232 of file PL_MPEP.h.
Referenced by PL_MPEP(), Planner_Greedy(), Planner_IMP_Greedy(), Planner_RRT_Connect_Like(), Planner_RRT_Greedy_Connect(), Planner_RRT_Greedy_Like(), Planner_RRT_Like(), Planner_SMG_Greedy(), Planner_SMG_RRT_Connect_Like(), Planner_SMG_RRT_Greedy_Like(), and RetrievePathFromTree().

bool PL_MPEP::usingJacobianExt [protected]

Definition at line 233 of file PL_MPEP.h.
Referenced by Establish_Self_Motion_Graph(), PL_MPEP(), and SetUsingJacobianExt().

bool PL_MPEP::usingStartConfig [protected]

Definition at line 230 of file PL_MPEP.h.
Referenced by InitializeTree(), PL_MPEP(), Plan(), PL_ForTest::Plan(), and SetUsingStartConfig().

std::vector<vertex> PL_MPEP::vertices [protected]

Definition at line 207 of file PL_MPEP.h.
Referenced by ClearTree(), DrawExplicit(), Greedy_Step(), PL_ForTest::LogStatistics(), Planner_Greedy(), Planner_IMP_Greedy(), Planner_RRT_Connect_Like(), Planner_RRT_Greedy_Connect(), Planner_RRT_Greedy_Like(), Planner_RRT_Like(), Planner_SMG_Greedy(), Planner_SMG_RRT_Connect_Like(), Planner_SMG_RRT_Greedy_Like(), and RetrievePathFromTree().

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

planners/ik_mpep/PL_MPEP.h
planners/ik_mpep/PL_MPEP.cpp

Generated on Sat Apr 1 21:56:12 2006 for Motion Planning Kernel by

1.4.6-NO

PL_MPEP Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation