planners/atace/PL_PRM_Constrained.cpp File Reference

#include "math/vector4.h"
#include "math/matrixmxn.h"
#include "synchronization/semaphore.h"
#include "robots/R_OpenChain.h"
#include "CollisionDetectors/CD_Swiftpp.h"
#include <assert.h>
#include "planners/ik_mpep/IK_Jacobian.h"
#include "PL_PRM_ClosedChain.h"
#include <gl/gl.h>
#include <opengl/gl_sphere.h>
#include <opengl/gl_group.h>

Include dependency graph for PL_PRM_Constrained.cpp:

Go to the source code of this file.

Defines
#define	MAX_ITERATION   30
#define	MAX_RETRY   30
#define	MAX_RETRY2   30
#define	DEF_NEIGHBOR   (2)
#define	DEF_DIST_TOLERANCE   (3)
#define	DEF_ERR_TOLERANCE   (1e-3)
Variables
double(PL_PRM_ClosedChain::*	costFunc )(const Configuration &p1, const Frame &pose) const = &PL_PRM_ClosedChain::Error1

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Define Documentation

#define DEF_DIST_TOLERANCE   (3)

Definition at line 18 of file PL_PRM_Constrained.cpp. Referenced by PL_RRT_ClosedChain::ConnectToGoalJacobian(), PL_RGD_PRM::IsInterfering(), PL_PRM_ClosedChain::IsInterfering(), PL_RRT_ClosedChain::TestJacobianConnection(), and PL_RRT_ClosedChain::TestRGDConnection().

#define DEF_ERR_TOLERANCE   (1e-3)

Definition at line 19 of file PL_PRM_Constrained.cpp. Referenced by PL_PRM_ClosedChain::GetClosedConfiguration(), PL_RGD_PRM::GetSatisfactoryConfiguration(), PL_PRM_ClosedChain::GetSatisfactoryConfiguration(), PL_RGD_PRM::GetSatisfiedConfiguration(), PL_PRM_ClosedBase::IsClosed(), PL_PRM_ClosedChain::IsClosed(), PL_RGD_PRM::IsSatisfied(), PL_PRM_ClosedRGD::MakeItClosed(), PL_PRM_ClosedJacobian::MakeItClosed(), PL_PRM_ClosedChain::MakeItClosed(), and PL_RGD_PRM::MakeItSatisfied().

#define DEF_NEIGHBOR   (2)

Definition at line 17 of file PL_PRM_Constrained.cpp. Referenced by PL_RRT_ClosedChain::CompareJacobianAndRGD(), PL_RRT_ClosedChain::CompareLocalPlanners(), PL_PRM_ClosedChain::GetClosedConfiguration(), PL_RGD_PRM::GetSatisfactoryConfiguration(), PL_PRM_ClosedChain::GetSatisfactoryConfiguration(), PL_RGD_PRM::GetSatisfiedConfiguration(), PL_PRM_ClosedRGD::MakeItClosed(), PL_PRM_ClosedChain::MakeItClosed(), and PL_RGD_PRM::MakeItSatisfied().

#define MAX_ITERATION   30

Definition at line 14 of file PL_PRM_Constrained.cpp. Referenced by PL_PRM_ClosedChain::GetClosedConfiguration(), PL_RGD_PRM::GetSatisfactoryConfiguration(), PL_PRM_ClosedChain::GetSatisfactoryConfiguration(), PL_RGD_PRM::GetSatisfiedConfiguration(), PL_PRM_ClosedRGD::IsInterfering(), PL_RGD_PRM::IsInterfering(), PL_PRM_ClosedChain::IsInterfering(), PL_PRM_ClosedRGD::MakeItClosed(), PL_PRM_ClosedChain::MakeItClosed(), PL_RGD_PRM::MakeItSatisfied(), and PL_RRT_ClosedChain::TestRGDConnection().

#define MAX_RETRY   30

Definition at line 15 of file PL_PRM_Constrained.cpp. Referenced by PL_PRM_ClosedChain::GetClosedConfiguration(), PL_RGD_PRM::GetSatisfactoryConfiguration(), PL_PRM_ClosedChain::GetSatisfactoryConfiguration(), PL_RGD_PRM::GetSatisfiedConfiguration(), PL_PRM_ClosedRGD::IsInterfering(), PL_RGD_PRM::IsInterfering(), PL_PRM_ClosedChain::IsInterfering(), PL_PRM_ClosedRGD::MakeItClosed(), PL_PRM_ClosedChain::MakeItClosed(), PL_RGD_PRM::MakeItSatisfied(), and PL_RRT_ClosedChain::TestRGDConnection().

#define MAX_RETRY2   30

Definition at line 16 of file PL_PRM_Constrained.cpp. Referenced by PL_PRM_ClosedRGD::IsInterfering(), PL_RGD_PRM::IsInterfering(), PL_PRM_ClosedChain::IsInterfering(), and PL_RRT_ClosedChain::TestRGDConnection().

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Variable Documentation

double(PL_PRM_ClosedChain::* costFunc)(const Configuration &p1, const Frame &pose) const = &PL_PRM_ClosedChain::Error1

Definition at line 21 of file PL_PRM_Constrained.cpp. Referenced by PL_RGD_PRM::GenerateRandomConfig(), PL_PRM_ClosedChain::GenerateRandomConfig(), PL_RGD_PRM::GenerateRandomConfigForPose(), PL_PRM_ClosedChain::GenerateRandomConfigForPose(), PL_RGD_PRM::GetSatisfactoryConfiguration(), and PL_PRM_ClosedChain::GetSatisfactoryConfiguration().

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