PL_ATACE Class Reference

#include <planners/atace/PL_ATACE.h>

Inherits IK_InvKinBase.

Inheritance diagram for PL_ATACE:

[legend]Collaboration diagram for PL_ATACE:

[legend]List of all members.

Public Member Functions
	PL_ATACE ()
virtual	~PL_ATACE ()
virtual void	SetCollisionDetector (CD_BasicStyle *collisionDetector)
virtual bool	DrawExplicit () const
virtual bool	Plan ()
Frame	GetToolFrame (const Configuration &config) const
virtual void	SetStartConfig (const Configuration &config)
virtual void	SetGoalConfig (const Configuration &config)
void	SetStartPose (const Pose &start)
void	SetGoalPose (const Pose &goal)
void	SetProblemType (unsigned int type)
bool	IsReady ()
void	SetTimeInterval (double interval)
double	GetTimeInterval ()
void	SetStepSize (double step)
double	GetStepSize ()
void	SetMetrics (int metrics)
int	GetMetrics ()
void	SetDrawSpace (bool drawCSpace)
bool	GetDrawSpace ()
void	SetOrientation (bool considered, bool always)
bool	GetOrientation ()
void	SetLazy (bool use)
bool	GetLazy ()
void	SetLocalPlanner (int localPlanner)
int	GetLocalPlanner ()
void	SetPoseChecker (ProcIsStaified proc)
void	SetPoseAdjuster (ProcAdjustToSatisfy proc)
void	SetVelocityChecker (ProcGetVelocity proc)
void	SetDirectedVelocityChecker (ProcGetDirectedVelocity proc)
Protected Member Functions
int	ExtendWithConstraint (Node &fromNode, Pose &dirPose, Node &toNode, Path &path, EEPath &endeffpath, bool greedy)
int	ExtendToGoal (Vertex &fromVert, Pose &dirPose, Vertex &endVert)
int	LazyTrackEEPath ()
void	RetrievePath (Vertex &goalVert)
void	GenerateRandomNode (Node &randomNode)
Configuration	GenerateRandomConfig ()
void	CreateTrajectoryCD (CD_BasicStyle *collisionDetector)
void	DeleteTrajectoryCD ()
bool	IsInterfering (const Pose &pose1, const Pose &pose2)
Protected Attributes
R_OpenChain *	m_robot
int	m_toolFrame
TrajPlanner *	m_localPlanner
int	m_nLocalPlanner
int	m_metrics
bool	m_useLazy
bool	m_drawCSpace
bool	m_useOrientation
bool	m_useOrientationAlways
double	m_stepSize
double	m_timeInterval
Pose	m_startPose
Pose	m_goalPose
bool	m_useGoalPose
bool	m_useGoalConf
bool	m_useStartPose
bool	m_useStartConf
bool	m_isGoalPoseSet
bool	m_isGoalConfSet
bool	m_isStartPoseSet
bool	m_isStartConfSet
Vertex	m_goalVert
Universe *	m_trajUniverse
CD_BasicStyle *	m_trajCollisionDetector
Private Member Functions
double	Distance (const Pose &pos1, const Pose &pos2)
double	Distance (const Configuration &conf1, const Configuration &conf2)
bool	CreateTree (Node &rootNode)
void	ClearTree ()
void	TrimTreeFrom (Vertex failVert)
Vertex	AddNodeInTree (Vertex parentVertex, Node &childNode, Pose &dirPose, Path &localPath, EEPath &endeffPath)
Vertex	FindClosestInTree (Pose &pose)
Vertex	FindClosestInTree (Configuration &conf)
Vertex	FindClosestInTree (Node node)
Configuration &	GetConfigurationFromTree (Vertex vert)
Pose &	GetPoseFromTree (Vertex vert)
Path &	GetPathFromTree (Vertex vert)
void	GetNextPose (Pose &prePose, Pose &dirPose, Pose &postPose, bool greedy)
void	CopyPath (Path &target, Path &source)
void	CopyEEPath (EEPath &target, EEPath &source)
void	AppendPath (Path &collect, Path &local)
void	AppendPath (Path &collect, PA_Points *local)
void	InsertPath (Path &target, Path &source)
void	InterpolatePath (Path &target, Configuration &start, Configuration &end)
Private Attributes
VectorN	distWeight
Vertex	m_rootVert
dynamic_trees	m_trajTree
std::vector< vertex >	m_vertices
ProcIsStaified	IsPoseSatified
ProcAdjustToSatisfy	AdjustPoseToSatisfy
ProcGetVelocity	GetVelocity
ProcGetDirectedVelocity	GetDirectedVelocity

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Detailed Description

Definition at line 90 of file PL_ATACE.h.

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Constructor & Destructor Documentation

PL_ATACE::PL_ATACE (   )

Definition at line 64 of file PL_ATACE.cpp. References AdjustPoseToSatisfy, FLAG_P_METRICS, GetDirectedVelocity, GetVelocity, IsPoseSatified, LOCAL_JACOBIAN, m_drawCSpace, m_isGoalConfSet, m_isGoalPoseSet, m_isStartConfSet, m_isStartPoseSet, m_localPlanner, m_metrics, m_nLocalPlanner, m_robot, m_rootVert, m_stepSize, m_timeInterval, m_toolFrame, m_trajCollisionDetector, m_trajUniverse, m_useGoalConf, m_useGoalPose, m_useLazy, m_useOrientation, m_useOrientationAlways, m_useStartConf, and m_useStartPose.

PL_ATACE::~PL_ATACE (   )  [virtual]

Definition at line 95 of file PL_ATACE.cpp. References ClearTree(), DeleteTrajectoryCD(), m_localPlanner, and m_rootVert. Here is the call graph for this function:

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Member Function Documentation

Vertex PL_ATACE::AddNodeInTree (  Vertex  parentVertex, Node &  childNode, Pose &  dirPose, Path &  localPath, EEPath &  endeffPath )  [private]

Definition at line 669 of file PL_ATACE.cpp. References VertexInfo::collisionChecked, Node::conf, VertexInfo::conf, CopyEEPath(), CopyPath(), VertexInfo::dirPose, VertexInfo::edge, VertexInfo::eeEdge, VertexInfo::flag, FLAG_NEW, PlannerBase::guid, Semaphore::Lock(), m_trajTree, m_useLazy, m_vertices, Node::pose, VertexInfo::pose, and Semaphore::Unlock(). Referenced by Plan(). Here is the call graph for this function:

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

Definition at line 1114 of file PL_ATACE.cpp. References PA_Points::AppendPoint(), PA_Points::GetPoint(), and PA_Points::Size(). Here is the call graph for this function:

void PL_ATACE::AppendPath (  Path &  collect, Path &  local )  [private]

Definition at line 1106 of file PL_ATACE.cpp. References PA_Points::AppendPoint(), and PA_Points::Size(). Referenced by ExtendWithConstraint(). Here is the call graph for this function:

void PL_ATACE::ClearTree (   )  [private]

Definition at line 555 of file PL_ATACE.cpp. References FLAG_OBSOLETE, PlannerBase::guid, Semaphore::Lock(), m_trajTree, and m_vertices. Referenced by CreateTree(), and ~PL_ATACE(). Here is the call graph for this function:

void PL_ATACE::CopyEEPath (  EEPath &  target, EEPath &  source )  [inline, private]

Definition at line 1127 of file PL_ATACE.cpp. Referenced by AddNodeInTree().

void PL_ATACE::CopyPath (  Path &  target, Path &  source )  [inline, private]

Definition at line 1122 of file PL_ATACE.cpp. Referenced by AddNodeInTree().

void PL_ATACE::CreateTrajectoryCD (  CD_BasicStyle *  collisionDetector  )  [protected]

Definition at line 939 of file PL_ATACE.cpp. References Universe::AddEntity(), PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::GetAllElements(), and m_trajUniverse. Referenced by SetCollisionDetector(). Here is the call graph for this function:

bool PL_ATACE::CreateTree (  Node &  rootNode  )  [private]

Definition at line 533 of file PL_ATACE.cpp. References ClearTree(), Node::conf, VertexInfo::conf, VertexInfo::flag, FLAG_NEW, PlannerBase::guid, Semaphore::Lock(), m_rootVert, m_trajTree, m_vertices, Node::pose, VertexInfo::pose, and Semaphore::Unlock(). Referenced by Plan(). Here is the call graph for this function:

void PL_ATACE::DeleteTrajectoryCD (   )  [protected]

Definition at line 992 of file PL_ATACE.cpp. References m_trajCollisionDetector, and m_trajUniverse. Referenced by SetCollisionDetector(), and ~PL_ATACE().

double PL_ATACE::Distance (  const Configuration &  conf1, const Configuration &  conf2 )  [private]

Definition at line 518 of file PL_ATACE.cpp. References PL_HasCollisionDetector::collisionDetector, CD_JointLimits::JointDisplacement(), and VectorN::Length(). Here is the call graph for this function:

double PL_ATACE::Distance (  const Pose &  pos1, const Pose &  pos2 )  [private]

Definition at line 510 of file PL_ATACE.cpp. References Frame::GetTranslationVector(). Referenced by ExtendWithConstraint(), FindClosestInTree(), InterpolatePath(), and IsInterfering(). Here is the call graph for this function:

bool PL_ATACE::DrawExplicit (   )  const [virtual]

Reimplemented from IK_InvKinBase. Definition at line 1367 of file PL_ATACE.cpp. References VertexInfo::conf, VertexInfo::flag, FLAG_OBSOLETE, Frame::GetTranslationVector(), PlannerBase::guid, Semaphore::Lock(), m_drawCSpace, m_trajTree, m_vertices, and VertexInfo::pose. Here is the call graph for this function:

int PL_ATACE::ExtendToGoal (  Vertex &  fromVert, Pose &  dirPose, Vertex &  endVert )  [protected]

Definition at line 454 of file PL_ATACE.cpp. References PA_Points::Clear(), PL_HasCollisionDetector::collisionDetector, Node::conf, ERR_FAIL, ERR_SUCCESS, ExtendWithConstraint(), GetConfigurationFromTree(), PlannerBase::GetGoalConfig(), GetPoseFromTree(), InterpolatePath(), CD_Linear::IsInterferingLinear(), m_stepSize, m_useGoalConf, m_useLazy, and Node::pose. Referenced by Plan(). Here is the call graph for this function:

int PL_ATACE::ExtendWithConstraint (  Node &  fromNode, Pose &  dirPose, Node &  toNode, Path &  path, EEPath &  endeffpath, bool  greedy )  [protected]

Definition at line 212 of file PL_ATACE.cpp. References AppendPath(), Node::conf, Distance(), PlannerBase::GetGoalConfig(), GetNextPose(), PL_Boolean_Output::GetPath(), PA_Points::GetPoint(), GetToolFrame(), PlannerBase::HasTimeLimitExpired(), IsInterfering(), LogMatrix, LogMessage, m_localPlanner, m_stepSize, m_timeInterval, m_useGoalConf, m_useLazy, m_useOrientation, m_useOrientationAlways, TrajPlanner::Plan(), Node::pose, PlannerBase::SetGoalConfig(), PlannerBase::SetStartConfig(), TrajPlanner::SetTrajectory(), TrajPlanner::SetUseGoalConfig(), TrajPlanner::SetUsingOrientation(), and PA_Points::Size(). Referenced by ExtendToGoal(), and Plan(). Here is the call graph for this function:

Vertex PL_ATACE::FindClosestInTree (  Node  node  )  [private]

Definition at line 755 of file PL_ATACE.cpp. References Node::conf, FindClosestInTree(), FLAG_C_METRICS, FLAG_P_METRICS, m_metrics, and Node::pose. Here is the call graph for this function:

Vertex PL_ATACE::FindClosestInTree (  Configuration &  conf  )  [private]

Definition at line 726 of file PL_ATACE.cpp. References VertexInfo::conf, Distance(), VertexInfo::flag, FLAG_OBSOLETE, m_trajTree, and m_vertices. Here is the call graph for this function:

Vertex PL_ATACE::FindClosestInTree (  Pose &  pose  )  [private]

Definition at line 697 of file PL_ATACE.cpp. References Distance(), VertexInfo::flag, FLAG_OBSOLETE, m_trajTree, m_vertices, and VertexInfo::pose. Referenced by FindClosestInTree(), and Plan(). Here is the call graph for this function:

Configuration PL_ATACE::GenerateRandomConfig (   )  [protected]

Definition at line 1063 of file PL_ATACE.cpp. References Configuration::DOF(), and VectorN::SetLength(). Referenced by GenerateRandomNode(). Here is the call graph for this function:

void PL_ATACE::GenerateRandomNode (  Node &  randomNode  )  [protected]

Definition at line 1057 of file PL_ATACE.cpp. References Node::conf, GenerateRandomConfig(), GetToolFrame(), and Node::pose. Referenced by Plan(). Here is the call graph for this function:

Configuration & PL_ATACE::GetConfigurationFromTree (  Vertex  vert  )  [private]

Definition at line 770 of file PL_ATACE.cpp. References VertexInfo::conf, and m_trajTree. Referenced by ExtendToGoal(), LazyTrackEEPath(), and Plan().

bool PL_ATACE::GetDrawSpace (   )  [inline]

Definition at line 125 of file PL_ATACE.h. References m_drawCSpace.

bool PL_ATACE::GetLazy (   )  [inline]

Definition at line 133 of file PL_ATACE.h. References m_useLazy.

int PL_ATACE::GetLocalPlanner (   )  [inline]

Definition at line 137 of file PL_ATACE.h. References m_nLocalPlanner.

int PL_ATACE::GetMetrics (   )  [inline]

Definition at line 121 of file PL_ATACE.h. References m_metrics.

void PL_ATACE::GetNextPose (  Pose &  prePose, Pose &  dirPose, Pose &  postPose, bool  greedy )  [private]

Definition at line 820 of file PL_ATACE.cpp. References AdjustPoseToSatisfy, GetDirectedVelocity, Frame::GetTranslationVector(), IsPoseSatified, IsZero, m_timeInterval, m_useOrientation, m_useOrientationAlways, Vector4::Magnitude(), Rad2Deg(), Matrix4x4::Rotate2(), Pose::SetTranslationVector(), and Matrix4x4::Translate(). Referenced by ExtendWithConstraint(). Here is the call graph for this function:

bool PL_ATACE::GetOrientation (   )  [inline]

Definition at line 129 of file PL_ATACE.h. References m_useOrientation.

Path & PL_ATACE::GetPathFromTree (  Vertex  vert  )  [private]

Definition at line 784 of file PL_ATACE.cpp. References VertexInfo::edge, and m_trajTree. Referenced by RetrievePath().

Pose & PL_ATACE::GetPoseFromTree (  Vertex  vert  )  [private]

Definition at line 777 of file PL_ATACE.cpp. References m_trajTree, and VertexInfo::pose. Referenced by ExtendToGoal(), and Plan().

double PL_ATACE::GetStepSize (   )  [inline]

Definition at line 117 of file PL_ATACE.h. References m_stepSize.

double PL_ATACE::GetTimeInterval (   )  [inline]

Definition at line 113 of file PL_ATACE.h. References m_timeInterval.

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

Reimplemented from IK_InvKinBase. Definition at line 1038 of file PL_ATACE.cpp. References FrameManager::GetFrameRef(), FrameManager::GetTransformRelative(), and m_toolFrame. Referenced by ExtendWithConstraint(), GenerateRandomNode(), and SetGoalConfig(). Here is the call graph for this function:

void PL_ATACE::InsertPath (  Path &  target, Path &  source )  [private]

Definition at line 1140 of file PL_ATACE.cpp. References PA_Points::Size(). Referenced by RetrievePath(). Here is the call graph for this function:

void PL_ATACE::InterpolatePath (  Path &  target, Configuration &  start, Configuration &  end )  [private]

Definition at line 1178 of file PL_ATACE.cpp. References PA_Points::AppendPoint(), Deg2Rad(), Distance(), and m_timeInterval. Referenced by ExtendToGoal(), and LazyTrackEEPath(). Here is the call graph for this function:

bool PL_ATACE::IsInterfering (  const Pose &  pose1, const Pose &  pose2 )  [protected]

Definition at line 1016 of file PL_ATACE.cpp. References Distance(), Frame::GetTranslationVector(), LEN_RESOLUTION, and m_trajCollisionDetector. Referenced by ExtendWithConstraint(), and Plan(). Here is the call graph for this function:

bool PL_ATACE::IsReady (   )

Definition at line 1330 of file PL_ATACE.cpp. References AdjustPoseToSatisfy, GetDirectedVelocity, GetVelocity, IsPoseSatified, m_isGoalConfSet, m_isGoalPoseSet, m_isStartConfSet, m_isStartPoseSet, m_localPlanner, m_useGoalConf, m_useGoalPose, m_useStartConf, and m_useStartPose.

int PL_ATACE::LazyTrackEEPath (   )  [protected]

Definition at line 334 of file PL_ATACE.cpp. References VertexInfo::collisionChecked, PL_HasCollisionDetector::collisionDetector, VertexInfo::conf, VertexInfo::eeEdge, GetConfigurationFromTree(), PlannerBase::GetGoalConfig(), PL_Boolean_Output::GetPath(), InterpolatePath(), CD_Linear::IsInterferingLinear(), m_goalVert, m_localPlanner, m_trajTree, m_useGoalConf, m_useOrientation, m_useOrientationAlways, TrajPlanner::Plan(), PlannerBase::SetGoalConfig(), PlannerBase::SetStartConfig(), TrajPlanner::SetTrajectory(), TrajPlanner::SetUseGoalConfig(), and TrajPlanner::SetUsingOrientation(). Here is the call graph for this function:

bool PL_ATACE::Plan (   )  [virtual]

Reimplemented from IK_InvKinBase. Definition at line 110 of file PL_ATACE.cpp. References AddNodeInTree(), PA_Points::Clear(), Node::conf, CreateTree(), ERR_FAIL, ERR_SUCCESS, ERR_TIMEOUT, ExtendToGoal(), ExtendWithConstraint(), FindClosestInTree(), GenerateRandomNode(), GetConfigurationFromTree(), GetPoseFromTree(), PlannerBase::GetStartConfig(), PlannerBase::HasTimeLimitExpired(), IsInterfering(), m_goalPose, m_goalVert, m_rootVert, m_startPose, PL_Boolean_Output::path, Node::pose, RetrievePath(), and PlannerBase::StartTimer(). Here is the call graph for this function:

void PL_ATACE::RetrievePath (  Vertex &  goalVert  )  [protected]

Definition at line 1096 of file PL_ATACE.cpp. References GetPathFromTree(), InsertPath(), m_trajTree, and PL_Boolean_Output::path. Referenced by Plan(). Here is the call graph for this function:

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

Reimplemented from PL_HasCollisionDetector. Definition at line 1194 of file PL_ATACE.cpp. References PL_HasCollisionDetector::collisionDetector, CreateTrajectoryCD(), DeleteTrajectoryCD(), R_OpenChain::DOF(), R_OpenChain::GetLink(), CD_BasicStyle::GetRobot(), R_OpenChain::GetToolFrame(), m_localPlanner, m_robot, m_stepSize, m_toolFrame, Vector4::Magnitude(), and PL_HasCollisionDetector::SetCollisionDetector(). Referenced by ServerBase::RefreshPlanner(). Here is the call graph for this function:

void PL_ATACE::SetDirectedVelocityChecker (  ProcGetDirectedVelocity  proc  )

Definition at line 911 of file PL_ATACE.cpp. References GetDirectedVelocity.

void PL_ATACE::SetDrawSpace (  bool  drawCSpace  )  [inline]

Definition at line 124 of file PL_ATACE.h. References m_drawCSpace.

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

Reimplemented from PlannerBase. Definition at line 1257 of file PL_ATACE.cpp. References GetToolFrame(), m_goalPose, m_isGoalConfSet, and PlannerBase::SetGoalConfig(). Here is the call graph for this function:

void PL_ATACE::SetGoalPose (  const Pose &  goal  )

Definition at line 1273 of file PL_ATACE.cpp. References m_goalPose, and m_isGoalPoseSet.

void PL_ATACE::SetLazy (  bool  use  )  [inline]

Definition at line 132 of file PL_ATACE.h. References m_useLazy.

void PL_ATACE::SetLocalPlanner (  int  localPlanner  )

Definition at line 1231 of file PL_ATACE.cpp. References LOCAL_RRT, m_localPlanner, and m_nLocalPlanner.

void PL_ATACE::SetMetrics (  int  metrics  )  [inline]

Definition at line 120 of file PL_ATACE.h. References m_metrics.

void PL_ATACE::SetOrientation (  bool  considered, bool  always )  [inline]

Definition at line 128 of file PL_ATACE.h. References m_useOrientation, and m_useOrientationAlways.

void PL_ATACE::SetPoseAdjuster (  ProcAdjustToSatisfy  proc  )

Definition at line 901 of file PL_ATACE.cpp. References AdjustPoseToSatisfy.

void PL_ATACE::SetPoseChecker (  ProcIsStaified  proc  )

Definition at line 896 of file PL_ATACE.cpp. References IsPoseSatified.

void PL_ATACE::SetProblemType (  unsigned int  type  )

Definition at line 1302 of file PL_ATACE.cpp. References m_useGoalConf, m_useGoalPose, m_useStartConf, m_useStartPose, TYPE_GOAL_CONF, TYPE_GOAL_POSE, TYPE_START_CONF, and TYPE_START_POSE.

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

Reimplemented from PlannerBase. Definition at line 1248 of file PL_ATACE.cpp. References m_isStartConfSet, and PlannerBase::SetStartConfig(). Here is the call graph for this function:

void PL_ATACE::SetStartPose (  const Pose &  start  )

Definition at line 1267 of file PL_ATACE.cpp. References m_isStartPoseSet, and m_startPose.

void PL_ATACE::SetStepSize (  double  step  )  [inline]

Definition at line 116 of file PL_ATACE.h. References m_stepSize.

void PL_ATACE::SetTimeInterval (  double  interval  )  [inline]

Definition at line 112 of file PL_ATACE.h. References m_timeInterval.

void PL_ATACE::SetVelocityChecker (  ProcGetVelocity  proc  )

Definition at line 906 of file PL_ATACE.cpp. References GetVelocity.

void PL_ATACE::TrimTreeFrom (  Vertex  failVert  )  [private]

Definition at line 608 of file PL_ATACE.cpp. References PlannerBase::guid, Semaphore::Lock(), m_goalVert, m_trajTree, and m_vertices. Here is the call graph for this function:

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Member Data Documentation

ProcAdjustToSatisfy PL_ATACE::AdjustPoseToSatisfy [private]

Definition at line 212 of file PL_ATACE.h. Referenced by GetNextPose(), IsReady(), PL_ATACE(), and SetPoseAdjuster().

VectorN PL_ATACE::distWeight [private]

Definition at line 180 of file PL_ATACE.h.

ProcGetDirectedVelocity PL_ATACE::GetDirectedVelocity [private]

Definition at line 214 of file PL_ATACE.h. Referenced by GetNextPose(), IsReady(), PL_ATACE(), and SetDirectedVelocityChecker().

ProcGetVelocity PL_ATACE::GetVelocity [private]

Definition at line 213 of file PL_ATACE.h. Referenced by IsReady(), PL_ATACE(), and SetVelocityChecker().

ProcIsStaified PL_ATACE::IsPoseSatified [private]

Definition at line 211 of file PL_ATACE.h. Referenced by GetNextPose(), IsReady(), PL_ATACE(), and SetPoseChecker().

bool PL_ATACE::m_drawCSpace [protected]

Definition at line 146 of file PL_ATACE.h. Referenced by DrawExplicit(), GetDrawSpace(), PL_ATACE(), and SetDrawSpace().

Pose PL_ATACE::m_goalPose [protected]

Definition at line 153 of file PL_ATACE.h. Referenced by Plan(), SetGoalConfig(), and SetGoalPose().

Vertex PL_ATACE::m_goalVert [protected]

Definition at line 164 of file PL_ATACE.h. Referenced by LazyTrackEEPath(), Plan(), and TrimTreeFrom().

bool PL_ATACE::m_isGoalConfSet [protected]

Definition at line 159 of file PL_ATACE.h. Referenced by IsReady(), PL_ATACE(), and SetGoalConfig().

bool PL_ATACE::m_isGoalPoseSet [protected]

Definition at line 158 of file PL_ATACE.h. Referenced by IsReady(), PL_ATACE(), and SetGoalPose().

bool PL_ATACE::m_isStartConfSet [protected]

Definition at line 161 of file PL_ATACE.h. Referenced by IsReady(), PL_ATACE(), and SetStartConfig().

bool PL_ATACE::m_isStartPoseSet [protected]

Definition at line 160 of file PL_ATACE.h. Referenced by IsReady(), PL_ATACE(), and SetStartPose().

TrajPlanner* PL_ATACE::m_localPlanner [protected]

Definition at line 142 of file PL_ATACE.h. Referenced by ExtendWithConstraint(), IsReady(), LazyTrackEEPath(), PL_ATACE(), SetCollisionDetector(), SetLocalPlanner(), and ~PL_ATACE().

int PL_ATACE::m_metrics [protected]

Definition at line 144 of file PL_ATACE.h. Referenced by FindClosestInTree(), GetMetrics(), PL_ATACE(), and SetMetrics().

int PL_ATACE::m_nLocalPlanner [protected]

Definition at line 143 of file PL_ATACE.h. Referenced by GetLocalPlanner(), PL_ATACE(), and SetLocalPlanner().

R_OpenChain* PL_ATACE::m_robot [protected]

Definition at line 140 of file PL_ATACE.h. Referenced by PL_ATACE(), and SetCollisionDetector().

Vertex PL_ATACE::m_rootVert [private]

Definition at line 185 of file PL_ATACE.h. Referenced by CreateTree(), PL_ATACE(), Plan(), and ~PL_ATACE().

Pose PL_ATACE::m_startPose [protected]

Definition at line 152 of file PL_ATACE.h. Referenced by Plan(), and SetStartPose().

double PL_ATACE::m_stepSize [protected]

Definition at line 149 of file PL_ATACE.h. Referenced by ExtendToGoal(), ExtendWithConstraint(), GetStepSize(), PL_ATACE(), SetCollisionDetector(), and SetStepSize().

double PL_ATACE::m_timeInterval [protected]

Definition at line 150 of file PL_ATACE.h. Referenced by ExtendWithConstraint(), GetNextPose(), GetTimeInterval(), InterpolatePath(), PL_ATACE(), and SetTimeInterval().

int PL_ATACE::m_toolFrame [protected]

Definition at line 141 of file PL_ATACE.h. Referenced by GetToolFrame(), PL_ATACE(), and SetCollisionDetector().

CD_BasicStyle* PL_ATACE::m_trajCollisionDetector [protected]

Definition at line 174 of file PL_ATACE.h. Referenced by DeleteTrajectoryCD(), IsInterfering(), and PL_ATACE().

dynamic_trees PL_ATACE::m_trajTree [private]

Definition at line 186 of file PL_ATACE.h. Referenced by AddNodeInTree(), ClearTree(), CreateTree(), DrawExplicit(), FindClosestInTree(), GetConfigurationFromTree(), GetPathFromTree(), GetPoseFromTree(), LazyTrackEEPath(), RetrievePath(), and TrimTreeFrom().

Universe* PL_ATACE::m_trajUniverse [protected]

Definition at line 173 of file PL_ATACE.h. Referenced by CreateTrajectoryCD(), DeleteTrajectoryCD(), and PL_ATACE().

bool PL_ATACE::m_useGoalConf [protected]

Definition at line 155 of file PL_ATACE.h. Referenced by ExtendToGoal(), ExtendWithConstraint(), IsReady(), LazyTrackEEPath(), PL_ATACE(), and SetProblemType().

bool PL_ATACE::m_useGoalPose [protected]

Definition at line 154 of file PL_ATACE.h. Referenced by IsReady(), PL_ATACE(), and SetProblemType().

bool PL_ATACE::m_useLazy [protected]

Definition at line 145 of file PL_ATACE.h. Referenced by AddNodeInTree(), ExtendToGoal(), ExtendWithConstraint(), GetLazy(), PL_ATACE(), and SetLazy().

bool PL_ATACE::m_useOrientation [protected]

Definition at line 147 of file PL_ATACE.h. Referenced by ExtendWithConstraint(), GetNextPose(), GetOrientation(), LazyTrackEEPath(), PL_ATACE(), and SetOrientation().

bool PL_ATACE::m_useOrientationAlways [protected]

Definition at line 148 of file PL_ATACE.h. Referenced by ExtendWithConstraint(), GetNextPose(), LazyTrackEEPath(), PL_ATACE(), and SetOrientation().

bool PL_ATACE::m_useStartConf [protected]

Definition at line 157 of file PL_ATACE.h. Referenced by IsReady(), PL_ATACE(), and SetProblemType().

bool PL_ATACE::m_useStartPose [protected]

Definition at line 156 of file PL_ATACE.h. Referenced by IsReady(), PL_ATACE(), and SetProblemType().

std::vector<vertex> PL_ATACE::m_vertices [private]

Definition at line 187 of file PL_ATACE.h. Referenced by AddNodeInTree(), ClearTree(), CreateTree(), DrawExplicit(), FindClosestInTree(), and TrimTreeFrom().

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

• planners/atace/PL_ATACE.h
• planners/atace/PL_ATACE.cpp

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