planners/atace/PL_RGD_Constraint.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/inversekin/Redundant.h"
#include "planners/ik_mpep/IK_Jacobian.h"
#include "planners/closedchain/PL_PRM_Closedchain.h"
#include "PL_RGD_Constraint.h"
#include <gl/gl.h>
#include <opengl/gl_sphere.h>
#include <opengl/gl_group.h>

Include dependency graph for PL_RGD_Constraint.cpp:

Go to the source code of this file.

Classes
struct	VertexInfoInTree
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-1)
#define	RGD_SPHERE_CX   15
#define	RGD_SPHERE_CY   0
#define	RGD_SPHERE_CZ   5
#define	RGD_SPHERE_RADIUS   12
#define	SHPERE_ORIENTATION
#define	ERR_FAIL   0xff
#define	ERR_SUCCESS   0x00
#define	ERR_TIMEOUT   0x10
#define	ERR_ILLPARAMETER   0x20
#define	LEN_STEP_SIZE   10
#define	MAX_CONF_RETRY   10
Variables
double(PL_RGD_PRM::*	costFunc )(const Configuration &p1, const Frame &pose) const = &PL_RGD_PRM::Error1

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Define Documentation

#define DEF_DIST_TOLERANCE   (3)

Definition at line 20 of file PL_RGD_Constraint.cpp.

#define DEF_ERR_TOLERANCE   (1e-1)

Definition at line 21 of file PL_RGD_Constraint.cpp.

#define DEF_NEIGHBOR   (2)

Definition at line 19 of file PL_RGD_Constraint.cpp.

#define ERR_FAIL   0xff

Definition at line 1135 of file PL_RGD_Constraint.cpp.

#define ERR_ILLPARAMETER   0x20

Definition at line 1138 of file PL_RGD_Constraint.cpp.

#define ERR_SUCCESS   0x00

Definition at line 1136 of file PL_RGD_Constraint.cpp.

#define ERR_TIMEOUT   0x10

Definition at line 1137 of file PL_RGD_Constraint.cpp.

#define LEN_STEP_SIZE   10

Definition at line 1293 of file PL_RGD_Constraint.cpp. Referenced by PL_RRT_ClosedChain::Extend(), PL_RGD_RRT::Extend(), and PL_RRT_ClosedChain::ExtendJacobian().

#define MAX_CONF_RETRY   10

Definition at line 1294 of file PL_RGD_Constraint.cpp. Referenced by PL_RRT_ClosedChain::ConnectToGoal(), PL_RGD_RRT::ConnectToGoal(), PL_RRT_ClosedChain::ConnectToGoal2(), PL_RRT_ClosedChain::Extend(), and PL_RGD_RRT::Extend().

#define MAX_ITERATION   30

Definition at line 16 of file PL_RGD_Constraint.cpp.

#define MAX_RETRY   30

Definition at line 17 of file PL_RGD_Constraint.cpp.

#define MAX_RETRY2   30

Definition at line 18 of file PL_RGD_Constraint.cpp.

#define RGD_SPHERE_CX   15

Definition at line 24 of file PL_RGD_Constraint.cpp. Referenced by PL_RGD_PRM::Error1(), and PL_RGD_PRM::Error5().

#define RGD_SPHERE_CY   0

Definition at line 25 of file PL_RGD_Constraint.cpp. Referenced by PL_RGD_PRM::Error1(), and PL_RGD_PRM::Error5().

#define RGD_SPHERE_CZ   5

Definition at line 26 of file PL_RGD_Constraint.cpp. Referenced by PL_RGD_PRM::Error1(), and PL_RGD_PRM::Error5().

#define RGD_SPHERE_RADIUS   12

Definition at line 27 of file PL_RGD_Constraint.cpp. Referenced by PL_RGD_PRM::Error5().

#define SHPERE_ORIENTATION

Definition at line 28 of file PL_RGD_Constraint.cpp.

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Variable Documentation

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

Definition at line 30 of file PL_RGD_Constraint.cpp.

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