PL_PRM Class Reference

#include <planners/prm/PL_PRM.h>

Inherited by PL_PRM_ClosedBase [virtual], PL_PRM_ClosedChain, and PL_RGD_PRM.

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Public Member Functions
virtual	~PL_PRM ()
	PL_PRM ()
virtual bool	DrawExplicit () const
virtual bool	Plan ()
virtual void	SetStartConfig (const Configuration &config)
virtual void	SetGoalConfig (const Configuration &config)
virtual void	SetCollisionDetector (CD_BasicStyle *collisionDetector)
virtual void *	GetParameters ()
virtual bool	SetParameters (const void *param)
virtual bool	ValidateParameters ()
void	SetRadiusTol (double tol)
double	GetRadiusTol ()
void	SetPRMMode (BOOL &isLazy, BOOL &validNodes, BOOL &validEdges)
void	GetPRMMode (BOOL &isLazy, BOOL &validNodes, BOOL &validEdges) const
void	SetUseMidPts (BOOL use_them)
BOOL	GetUseMidPts () const
PRM_StateMachineType	GetLastPlanningState () const
void	SetInitQuant (int quant)
int	GetInitQuant () const
void	SetEnhanceQuant (int quant)
int	GetEnhanceQuant () const
void	SetSeedRatio (double ratio)
double	GetSeedRatio () const
BOOL	AddNode ()
void	CopySettings (PlannerBase *original)
Protected Member Functions
virtual void	ConnectNode (const node &newnode)
virtual void	ConnectEdgesFull (const node &n1, const double &radius_squared)
virtual void	ConnectEdgesLazy (const node &n1, const double &radius_squared)
SuccessResultType	BuildInitRoadMap ()
SuccessResultType	FindPath ()
SuccessResultType	VerifyPath ()
SuccessResultType	EnhanceRoadMap ()
virtual bool	SaveContents (std::ofstream &outfile) const
virtual bool	LoadContents (std::ifstream &infile)
void	SetGraphMode (const bool &treeGraph)
bool	NodeInConnectionList (const node &n1, const list< int > &connectIDs)
Protected Attributes
double	diagonal_squared
double	radiusTol
BOOL	lazyMode
BOOL	validNodesOnly
BOOL	validEdgesOnly
BOOL	useMidPts
PRM_StateMachineType	lastPlanningState
int	initQuant
int	enhanceQuant
double	seedRatio
list< Configuration >	config_seeds
node_map< BOOL >	nodeChecked
edge_map< BOOL >	edgeChecked
node_map< BOOL >	uniformlyAdded
node_map< int > *	connectIDp
int	baseConnectID
node_map< node >	pred
node_map< double >	dist
node_pq< double > *	openp
Private Member Functions
double	Astar_f (const node &n, const double &currcost) const

Detailed Description

Definition at line 37 of file PL_PRM.h.

Constructor & Destructor Documentation

PL_PRM::~PL_PRM ( ) [virtual]

Definition at line 88 of file PL_PRM.cpp.
References connectIDp, and openp.

PL_PRM::PL_PRM ( )

Definition at line 44 of file PL_PRM.cpp.
References baseConnectID, config_seeds, connectIDp, DEFAULT_ENHANCE_QUANT, DEFAULT_INIT_QUANT, DEFAULT_SEED_RATIO, DEFAULT_TOL, DEFAULTBASECONNECTID, diagonal_squared, edgeChecked, enhanceQuant, FALSE, FILEEXT, PL_GraphBase::fileext, FILEHEADER, PL_GraphBase::fileheader, PL_GraphBase::G, initQuant, lastPlanningState, lazyMode, nodeChecked, openp, PRM_START, seedRatio, SetRadiusTol(), TRUE, uniformlyAdded, useMidPts, validEdgesOnly, and validNodesOnly.
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Member Function Documentation

BOOL PL_PRM::AddNode ( )

Definition at line 896 of file PL_PRM.cpp.
References config_seeds, ConnectNode(), FALSE, PL_GraphBase::G, PL_GraphBase::GenerateRandomConfig(), PlannerBase::HasTimeLimitExpired(), PL_GraphBase::IsInterfering(), nodeChecked, TRUE, uniformlyAdded, and validNodesOnly.
Referenced by BuildInitRoadMap().
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double PL_PRM::Astar_f ( const node & n,

const double & currcost

) const [inline, private]

Definition at line 1762 of file PL_PRM.cpp.
References PL_GraphBase::Distance(), and PL_GraphBase::goalNode.
Referenced by FindPath().
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SuccessResultType PL_PRM::BuildInitRoadMap ( ) [protected]

Definition at line 1200 of file PL_PRM.cpp.
References AddNode(), PlannerBase::HasTimeLimitExpired(), initQuant, PL_GraphBase::NodeCount(), and TIMER_EXPIRED.
Referenced by Plan(), PL_RGD_PRM::Plan_As_Usual(), and PL_PRM_ClosedChain::Plan_As_Usual().
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void PL_PRM::ConnectEdgesFull ( const node & n1,

const double & radius_squared

) [protected, virtual]

Reimplemented in PL_PRM_ClosedChain, PL_RGD_PRM, and PL_PRM_ClosedBase.
Definition at line 1047 of file PL_PRM.cpp.
References baseConnectID, config_seeds, connectIDp, PL_GraphBase::Distance(), edgeChecked, PL_GraphBase::G, PL_GraphBase::GetMidPoint(), PL_GraphBase::IsInterfering(), PL_GraphBase::NIL_ID, NodeInConnectionList(), TRUE, and useMidPts.
Referenced by ConnectNode().
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void PL_PRM::ConnectEdgesLazy ( const node & n1,

const double & radius_squared

) [protected, virtual]

Definition at line 989 of file PL_PRM.cpp.
References config_seeds, PL_GraphBase::Distance(), edgeChecked, FALSE, PL_GraphBase::G, PL_GraphBase::GetMidPoint(), PL_GraphBase::IsInterfering(), TRUE, useMidPts, and validEdgesOnly.
Referenced by ConnectNode().
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void PL_PRM::ConnectNode ( const node & newnode ) [protected, virtual]

Definition at line 964 of file PL_PRM.cpp.
References ConnectEdgesFull(), ConnectEdgesLazy(), diagonal_squared, lazyMode, and radiusTol.
Referenced by AddNode(), SetGoalConfig(), and SetStartConfig().
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void PL_PRM::CopySettings ( PlannerBase * original )

Reimplemented from PL_GraphBase.
Definition at line 1772 of file PL_PRM.cpp.
References PL_GraphBase::CopySettings(), enhanceQuant, initQuant, lazyMode, radiusTol, seedRatio, SetGraphMode(), useMidPts, validEdgesOnly, and validNodesOnly.
Referenced by ServerBase::RefreshPlanner().
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bool PL_PRM::DrawExplicit ( ) const [virtual]

Reimplemented from PL_GraphBase.
Reimplemented in PL_RGD_RRT, PL_RGD_Constraint, PL_RRT_ClosedChain, and PL_RRT_ClosedChain.
Definition at line 114 of file PL_PRM.cpp.
References PL_GraphBase::DrawSpecific(), PL_GraphBase::G, PL_GraphBase::GetCoords(), PL_GraphBase::goalNode, PL_GraphBase::graphPath, Semaphore::Lock(), nodeChecked, PL_GraphBase::startNode, and uniformlyAdded.
Referenced by PL_RGD_Constraint::DrawExplicit().
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SuccessResultType PL_PRM::EnhanceRoadMap ( ) [protected]

Definition at line 1640 of file PL_PRM.cpp.
References config_seeds, diagonal_squared, enhanceQuant, FALSE, PL_GraphBase::GenerateRandomConfig(), PL_GraphBase::IsInterfering(), radiusTol, seedRatio, TRUE, and validNodesOnly.
Referenced by Plan(), PL_RGD_PRM::Plan_As_Usual(), and PL_PRM_ClosedChain::Plan_As_Usual().
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SuccessResultType PL_PRM::FindPath ( ) [protected]

Definition at line 1228 of file PL_PRM.cpp.
References Astar_f(), dist, PL_GraphBase::G, PL_GraphBase::goalNode, PL_GraphBase::graphPath, PlannerBase::HasTimeLimitExpired(), lastPlanningState, openp, PASS, pred, PRM_FIND_PATH, PRM_TIMER_EXPIRED, PL_GraphBase::startNode, and TIMER_EXPIRED.
Referenced by Plan(), PL_RGD_PRM::Plan_As_Usual(), and PL_PRM_ClosedChain::Plan_As_Usual().
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int PL_PRM::GetEnhanceQuant ( ) const [inline]

Definition at line 78 of file PL_PRM.h.
References enhanceQuant.

int PL_PRM::GetInitQuant ( ) const [inline]

Definition at line 75 of file PL_PRM.h.
References initQuant.

PRM_StateMachineType PL_PRM::GetLastPlanningState ( ) const [inline]

Definition at line 72 of file PL_PRM.h.
References lastPlanningState.

void * PL_PRM::GetParameters ( ) [virtual]

Reimplemented from PlannerBase.
Definition at line 1794 of file PL_PRM.cpp.
References enhanceQuant, PlannerBase::GetParameters(), initQuant, lazyMode, PlannerBase::paramBuffer, radiusTol, seedRatio, PlannerBase::sizeOfParameterBuffer, validEdgesOnly, and validNodesOnly.
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void PL_PRM::GetPRMMode ( BOOL & isLazy,

BOOL & validNodes,

BOOL & validEdges

) const

Definition at line 721 of file PL_PRM.cpp.
References lazyMode, validEdgesOnly, and validNodesOnly.

double PL_PRM::GetRadiusTol ( )

Definition at line 664 of file PL_PRM.cpp.
References radiusTol.

double PL_PRM::GetSeedRatio ( ) const [inline]

Definition at line 81 of file PL_PRM.h.
References seedRatio.

BOOL PL_PRM::GetUseMidPts ( ) const [inline]

Definition at line 70 of file PL_PRM.h.
References useMidPts.

bool PL_PRM::LoadContents ( std::ifstream & infile ) [protected, virtual]

Reimplemented from PL_GraphBase.
Definition at line 292 of file PL_PRM.cpp.
References baseConnectID, connectIDp, DEFAULTBASECONNECTID, edgeChecked, enhanceQuant, PL_GraphBase::G, initQuant, lastPlanningState, lazyMode, PL_GraphBase::LoadContents(), PL_GraphBase::NIL_ID, nodeChecked, PRM_START, radiusTol, seedRatio, uniformlyAdded, useMidPts, validEdgesOnly, and validNodesOnly.
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bool PL_PRM::NodeInConnectionList ( const node & n1,

const list< int > & connectIDs

) [protected]

Definition at line 867 of file PL_PRM.cpp.
References connectIDp.
Referenced by ConnectEdgesFull(), PL_PRM_ClosedBase::ConnectEdgesFull(), PL_RGD_PRM::ConnectEdgesFull(), and PL_PRM_ClosedChain::ConnectEdgesFull().

bool PL_PRM::Plan ( ) [virtual]

Reimplemented from PL_GraphBase.
Reimplemented in PL_PRM_ClosedChain, PL_RGD_PRM, PL_RGD_RRT, PL_RGD_Constraint, PL_RRT_ClosedChain, PL_PRM_ClosedBase, PL_PRM_ClosedLocalJacobian, PL_PRM_ClosedChain, and PL_RRT_ClosedChain.
Definition at line 445 of file PL_PRM.cpp.
References PA_Points::AppendPoint(), BuildInitRoadMap(), PA_Points::Clear(), diagonal_squared, EnhanceRoadMap(), FALSE, FindPath(), PL_GraphBase::GetCspaceRange(), SmootherBase::GetPath(), PlannerBase::GetStartConfig(), PL_GraphBase::goalNode, PL_GraphBase::graphPath, PlannerBase::guid, PL_GraphBase::IsInterfering(), lastPlanningState, Semaphore::Lock(), PL_Boolean_Output::m_Smoother, PASS, PL_Boolean_Output::path, PRM_BUILD_INIT_ROADMAP, PRM_DONE, PRM_ENHANCE_ROADMAP, PRM_FAILURE, PRM_FIND_PATH, PRM_START, PRM_TRANSLATE_PATH, PRM_VERIFY_PATH, SmootherBase::SetCollisionDetector(), SmootherBase::SetPath(), SmootherBase::Smooth(), PL_GraphBase::startNode, PlannerBase::StartTimer(), TIMER_EXPIRED, PL_GraphBase::TranslatePath(), Semaphore::Unlock(), and VerifyPath().
Referenced by PL_PRM_ClosedBase::Plan().
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bool PL_PRM::SaveContents ( std::ofstream & outfile ) const [protected, virtual]

Reimplemented from PL_GraphBase.
Definition at line 382 of file PL_PRM.cpp.
References baseConnectID, edgeChecked, enhanceQuant, PL_GraphBase::G, initQuant, lazyMode, PL_GraphBase::NIL_ID, nodeChecked, radiusTol, PL_GraphBase::SaveContents(), seedRatio, uniformlyAdded, useMidPts, validEdgesOnly, and validNodesOnly.
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void PL_PRM::SetCollisionDetector ( CD_BasicStyle * collisionDetector ) [virtual]

Reimplemented from PL_GraphBase.
Reimplemented in PL_PRM_ClosedChain, PL_RGD_PRM, PL_RRT_ClosedChain, PL_PRM_ClosedLocalJacobian, PL_PRM_ClosedJacobian, PL_PRM_ClosedAPDecomp, PL_PRM_ClosedChain, and PL_RRT_ClosedChain.
Definition at line 736 of file PL_PRM.cpp.
References PL_HasCollisionDetector::collisionDetector, diagonal_squared, PL_GraphBase::GetCspaceRange(), and PL_GraphBase::SetCollisionDetector().
Referenced by ServerBase::RefreshPlanner(), PL_PRM_ClosedAPDecomp::SetCollisionDetector(), PL_PRM_ClosedJacobian::SetCollisionDetector(), PL_PRM_ClosedLocalJacobian::SetCollisionDetector(), PL_RRT_ClosedChain::SetCollisionDetector(), PL_RGD_PRM::SetCollisionDetector(), and PL_PRM_ClosedChain::SetCollisionDetector().
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void PL_PRM::SetEnhanceQuant ( int quant ) [inline]

Definition at line 77 of file PL_PRM.h.
References enhanceQuant.

void PL_PRM::SetGoalConfig ( const Configuration & config ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 789 of file PL_PRM.cpp.
References ConnectNode(), PL_GraphBase::G, PlannerBase::GetGoalConfig(), PL_GraphBase::goalNode, and PL_GraphBase::SetGoalConfig().
Referenced by PL_RGD_PRM::Plan(), and PL_PRM_ClosedChain::Plan().
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void PL_PRM::SetGraphMode ( const bool & treeGraph ) [protected]

Definition at line 830 of file PL_PRM.cpp.
References baseConnectID, PL_GraphBase::ClearGraph(), connectIDp, DEFAULTBASECONNECTID, and PL_GraphBase::G.
Referenced by CopySettings(), and SetPRMMode().
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void PL_PRM::SetInitQuant ( int quant ) [inline]

Definition at line 74 of file PL_PRM.h.
References initQuant.

bool PL_PRM::SetParameters ( const void * param ) [virtual]

Reimplemented from PlannerBase.
Definition at line 1866 of file PL_PRM.cpp.
References enhanceQuant, initQuant, lazyMode, PlannerBase::paramBuffer, radiusTol, seedRatio, PlannerBase::SetParameters(), validEdgesOnly, and validNodesOnly.
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void PL_PRM::SetPRMMode ( BOOL & isLazy,

BOOL & validNodes,

BOOL & validEdges

)

Definition at line 675 of file PL_PRM.cpp.
References lazyMode, SetGraphMode(), TRUE, validEdgesOnly, and validNodesOnly.
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void PL_PRM::SetRadiusTol ( double tol )

Definition at line 651 of file PL_PRM.cpp.
References radiusTol.
Referenced by PL_PRM().

void PL_PRM::SetSeedRatio ( double ratio ) [inline]

Definition at line 80 of file PL_PRM.h.
References seedRatio.

void PL_PRM::SetStartConfig ( const Configuration & config ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 753 of file PL_PRM.cpp.
References ConnectNode(), PL_GraphBase::G, PlannerBase::GetStartConfig(), PL_GraphBase::SetStartConfig(), and PL_GraphBase::startNode.
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void PL_PRM::SetUseMidPts ( BOOL use_them ) [inline]

Definition at line 69 of file PL_PRM.h.
References useMidPts.

bool PL_PRM::ValidateParameters ( ) [virtual]

Reimplemented from PlannerBase.
Definition at line 1932 of file PL_PRM.cpp.

SuccessResultType PL_PRM::VerifyPath ( ) [protected]

Definition at line 1413 of file PL_PRM.cpp.
References FAIL, and PL_GraphBase::graphPath.
Referenced by Plan(), PL_RGD_PRM::Plan_As_Usual(), and PL_PRM_ClosedChain::Plan_As_Usual().

Member Data Documentation

int PL_PRM::baseConnectID [protected]

Definition at line 145 of file PL_PRM.h.
Referenced by ConnectEdgesFull(), PL_PRM_ClosedBase::ConnectEdgesFull(), PL_RGD_PRM::ConnectEdgesFull(), PL_PRM_ClosedChain::ConnectEdgesFull(), LoadContents(), PL_PRM(), SaveContents(), and SetGraphMode().

list<Configuration> PL_PRM::config_seeds [protected]

Definition at line 131 of file PL_PRM.h.
Referenced by AddNode(), ConnectEdgesFull(), PL_PRM_ClosedBase::ConnectEdgesFull(), PL_RGD_PRM::ConnectEdgesFull(), PL_PRM_ClosedChain::ConnectEdgesFull(), ConnectEdgesLazy(), EnhanceRoadMap(), and PL_PRM().

node_map<int>* PL_PRM::connectIDp [protected]

Definition at line 144 of file PL_PRM.h.
Referenced by ConnectEdgesFull(), PL_PRM_ClosedBase::ConnectEdgesFull(), PL_RGD_PRM::ConnectEdgesFull(), PL_PRM_ClosedChain::ConnectEdgesFull(), LoadContents(), NodeInConnectionList(), PL_PRM(), SetGraphMode(), and ~PL_PRM().

double PL_PRM::diagonal_squared [protected]

Definition at line 117 of file PL_PRM.h.
Referenced by ConnectNode(), EnhanceRoadMap(), PL_PRM(), Plan(), PL_RGD_PRM::Plan_As_Usual(), PL_PRM_ClosedChain::Plan_As_Usual(), and SetCollisionDetector().

node_map<double> PL_PRM::dist [protected]

Definition at line 154 of file PL_PRM.h.
Referenced by PL_RRT_ClosedChain::Distance(), PL_RGD_RRT::Distance(), PL_RRT_ClosedChain::Extend(), PL_RGD_RRT::Extend(), and FindPath().

edge_map<BOOL> PL_PRM::edgeChecked [protected]

Definition at line 139 of file PL_PRM.h.
Referenced by ConnectEdgesFull(), PL_PRM_ClosedBase::ConnectEdgesFull(), PL_RGD_PRM::ConnectEdgesFull(), PL_PRM_ClosedChain::ConnectEdgesFull(), ConnectEdgesLazy(), LoadContents(), PL_PRM(), and SaveContents().

int PL_PRM::enhanceQuant [protected]

Definition at line 128 of file PL_PRM.h.
Referenced by CopySettings(), EnhanceRoadMap(), GetEnhanceQuant(), GetParameters(), LoadContents(), PL_PRM(), SaveContents(), SetEnhanceQuant(), and SetParameters().

int PL_PRM::initQuant [protected]

Definition at line 127 of file PL_PRM.h.
Referenced by BuildInitRoadMap(), CopySettings(), GetInitQuant(), GetParameters(), LoadContents(), PL_PRM(), SaveContents(), SetInitQuant(), and SetParameters().

PRM_StateMachineType PL_PRM::lastPlanningState [protected]

Definition at line 125 of file PL_PRM.h.
Referenced by FindPath(), GetLastPlanningState(), LoadContents(), PL_PRM(), Plan(), PL_RGD_PRM::Plan_As_Usual(), and PL_PRM_ClosedChain::Plan_As_Usual().

BOOL PL_PRM::lazyMode [protected]

Definition at line 120 of file PL_PRM.h.
Referenced by ConnectNode(), CopySettings(), GetParameters(), GetPRMMode(), LoadContents(), PL_PRM(), SaveContents(), SetParameters(), and SetPRMMode().

node_map<BOOL> PL_PRM::nodeChecked [protected]

Definition at line 138 of file PL_PRM.h.
Referenced by AddNode(), DrawExplicit(), LoadContents(), PL_PRM(), and SaveContents().

node_pq<double>* PL_PRM::openp [protected]

Definition at line 155 of file PL_PRM.h.
Referenced by FindPath(), PL_PRM(), and ~PL_PRM().

node_map<node> PL_PRM::pred [protected]

Definition at line 153 of file PL_PRM.h.
Referenced by FindPath().

double PL_PRM::radiusTol [protected]

Definition at line 118 of file PL_PRM.h.
Referenced by ConnectNode(), CopySettings(), EnhanceRoadMap(), GetParameters(), GetRadiusTol(), LoadContents(), SaveContents(), SetParameters(), and SetRadiusTol().

double PL_PRM::seedRatio [protected]

Definition at line 129 of file PL_PRM.h.
Referenced by CopySettings(), EnhanceRoadMap(), GetParameters(), GetSeedRatio(), LoadContents(), PL_PRM(), SaveContents(), SetParameters(), and SetSeedRatio().

node_map<BOOL> PL_PRM::uniformlyAdded [protected]

Definition at line 141 of file PL_PRM.h.
Referenced by AddNode(), DrawExplicit(), LoadContents(), PL_PRM(), and SaveContents().

BOOL PL_PRM::useMidPts [protected]

Definition at line 123 of file PL_PRM.h.
Referenced by ConnectEdgesFull(), PL_PRM_ClosedBase::ConnectEdgesFull(), PL_RGD_PRM::ConnectEdgesFull(), PL_PRM_ClosedChain::ConnectEdgesFull(), ConnectEdgesLazy(), CopySettings(), GetUseMidPts(), LoadContents(), PL_PRM(), SaveContents(), and SetUseMidPts().

BOOL PL_PRM::validEdgesOnly [protected]

Definition at line 122 of file PL_PRM.h.
Referenced by ConnectEdgesLazy(), CopySettings(), GetParameters(), GetPRMMode(), LoadContents(), PL_PRM(), SaveContents(), SetParameters(), and SetPRMMode().

BOOL PL_PRM::validNodesOnly [protected]

Definition at line 121 of file PL_PRM.h.
Referenced by AddNode(), CopySettings(), EnhanceRoadMap(), GetParameters(), GetPRMMode(), LoadContents(), PL_PRM(), SaveContents(), SetParameters(), and SetPRMMode().

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

planners/prm/PL_PRM.h
planners/prm/PL_PRM.cpp

Generated on Sat Apr 1 21:57:15 2006 for Motion Planning Kernel by

1.4.6-NO

PL_PRM Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation