planners/atace/PL_RRT_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_RRT_ClosedChain.h"
#include <gl/gl.h>
#include <opengl/gl_sphere.h>
#include <opengl/gl_group.h>

Include dependency graph for PL_RRT_Constrained.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-3)
#define	DEF_TIME_INTERVAL   (1e-1)
#define	DEF_INCREMENT   (15)
#define	MIN_DIST_CHANGE   (0.5)
#define	LEN_STEP_SIZE   20
#define	MAX_CONF_RETRY   10
#define	ERR_FAIL   0xff
#define	ERR_SUCCESS   0x00
#define	ERR_TIMEOUT   0x10
#define	ERR_ILLPARAMETER   0x20

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Define Documentation

#define DEF_DIST_TOLERANCE   (3)

Definition at line 18 of file PL_RRT_Constrained.cpp.

#define DEF_ERR_TOLERANCE   (1e-3)

Definition at line 19 of file PL_RRT_Constrained.cpp.

#define DEF_INCREMENT   (15)

Definition at line 21 of file PL_RRT_Constrained.cpp. Referenced by PL_RRT_ClosedChain::ConnectToGoalJacobian(), PL_RRT_ClosedChain::ExtendJacobian(), and PL_RRT_ClosedChain::TestJacobianConnection().

#define DEF_NEIGHBOR   (2)

Definition at line 17 of file PL_RRT_Constrained.cpp.

#define DEF_TIME_INTERVAL   (1e-1)

Definition at line 20 of file PL_RRT_Constrained.cpp.

#define ERR_FAIL   0xff

Definition at line 33 of file PL_RRT_Constrained.cpp.

#define ERR_ILLPARAMETER   0x20

Definition at line 36 of file PL_RRT_Constrained.cpp.

#define ERR_SUCCESS   0x00

Definition at line 34 of file PL_RRT_Constrained.cpp.

#define ERR_TIMEOUT   0x10

Definition at line 35 of file PL_RRT_Constrained.cpp.

#define LEN_STEP_SIZE   20

Definition at line 24 of file PL_RRT_Constrained.cpp.

#define MAX_CONF_RETRY   10

Definition at line 25 of file PL_RRT_Constrained.cpp.

#define MAX_ITERATION   30

Definition at line 14 of file PL_RRT_Constrained.cpp.

#define MAX_RETRY   30

Definition at line 15 of file PL_RRT_Constrained.cpp.

#define MAX_RETRY2   30

Definition at line 16 of file PL_RRT_Constrained.cpp.

#define MIN_DIST_CHANGE   (0.5)

Definition at line 22 of file PL_RRT_Constrained.cpp. Referenced by PL_RRT_ClosedChain::ConnectToGoalJacobian().

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