SMGraph Class Reference

#include <planners/ik_mpep/SMGraph.h>

List of all members.

Public Member Functions
	SMGraph (Configuration &entry)
	~SMGraph ()
bool	SetEntryConfig (Configuration &entry)
bool	SetExitConfig (Configuration &exit)
void *	FirstNode ()
void *	NextNode ()
Configuration *	GetConfiguration (void *v)
bool	GetPath ()
Configuration *	FirstConfigInPath ()
Configuration *	NextConfigInPath ()
void *	AddConnection (void *parent, Configuration &son)
void *	AddConnection (Configuration &parent, Configuration &son)
void	Clear ()
virtual bool	OptimizeConnection ()
int	Node_Num ()
GRAPH< Configuration *, double > *	GetSMGraph ()
int	Node_Edge ()
void	GetConfig (const node &n, Configuration **conf)
void	GetConfig (const edge &e, Configuration **conf1, Configuration **conf2)
Private Member Functions
node	NewNode (Configuration &config)
node	Lookup (Configuration &config)
double	Distance (const Configuration &a, const Configuration &b)
Private Attributes
node	entryNode
node	exitNode
node	currentNode
list_item	current
list< Configuration * >	path
GRAPH< Configuration *, double >	G

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Detailed Description

Definition at line 7 of file SMGraph.h.

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Constructor & Destructor Documentation

SMGraph::SMGraph (  Configuration &  entry  )

Definition at line 13 of file SMGraph.cpp. References current, currentNode, entryNode, exitNode, G, and NewNode(). Here is the call graph for this function:

SMGraph::~SMGraph (   )

Definition at line 28 of file SMGraph.cpp. References G.

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Member Function Documentation

void * SMGraph::AddConnection (  Configuration &  parent, Configuration &  son )

Definition at line 159 of file SMGraph.cpp. References AddConnection(), and Lookup(). Here is the call graph for this function:

void * SMGraph::AddConnection (  void *  parent, Configuration &  son )

Definition at line 150 of file SMGraph.cpp. References Distance(), exitNode, G, and NewNode(). Referenced by AddConnection(). Here is the call graph for this function:

void SMGraph::Clear (   )

Definition at line 173 of file SMGraph.cpp. References G. Referenced by PL_ForTest::RemoveNode().

double SMGraph::Distance (  const Configuration &  a, const Configuration &  b )  [private]

Definition at line 240 of file SMGraph.cpp. Referenced by AddConnection().

Configuration * SMGraph::FirstConfigInPath (   )

Definition at line 132 of file SMGraph.cpp. References current, and path.

void * SMGraph::FirstNode (   )

Definition at line 115 of file SMGraph.cpp. References currentNode, and G. Referenced by PL_MPEP::CheckConnectivity(), and PL_MPEP::GetNearestNodeInGraph().

void SMGraph::GetConfig (  const edge &  e, Configuration **  conf1, Configuration **  conf2 )

Definition at line 212 of file SMGraph.cpp. References G.

void SMGraph::GetConfig (  const node &  n, Configuration **  conf )

Definition at line 207 of file SMGraph.cpp. References G. Referenced by PL_MPEP::DrawExplicit().

Configuration * SMGraph::GetConfiguration (  void *  v  )

Definition at line 127 of file SMGraph.cpp. References G. Referenced by PL_MPEP::CheckConnectivity(), PL_MPEP::Extend_Node_Self_Motion_Graph(), PL_ForTest::Extend_Node_Self_Motion_Graph(), PL_MPEP::Extend_Node_Self_Motion_Graph_Jacobian(), PL_ForTest::Extend_Node_Self_Motion_Graph_Jacobian(), and PL_MPEP::GetNearestNodeInGraph().

bool SMGraph::GetPath (   )

Definition at line 76 of file SMGraph.cpp. References entryNode, exitNode, G, and path.

GRAPH< Configuration *, double > * SMGraph::GetSMGraph (   )

Definition at line 197 of file SMGraph.cpp. References G. Referenced by PL_MPEP::DrawExplicit().

node SMGraph::Lookup (  Configuration &  config  )  [private]

Definition at line 227 of file SMGraph.cpp. References G. Referenced by AddConnection(), SetEntryConfig(), and SetExitConfig().

node SMGraph::NewNode (  Configuration &  config  )  [private]

Definition at line 220 of file SMGraph.cpp. References G. Referenced by AddConnection(), and SMGraph().

Configuration * SMGraph::NextConfigInPath (   )

Definition at line 141 of file SMGraph.cpp. References current, and path.

void * SMGraph::NextNode (   )

Definition at line 121 of file SMGraph.cpp. References currentNode, and G. Referenced by PL_MPEP::CheckConnectivity(), and PL_MPEP::GetNearestNodeInGraph().

int SMGraph::Node_Edge (   )

Definition at line 202 of file SMGraph.cpp. References G.

int SMGraph::Node_Num (   )

Definition at line 192 of file SMGraph.cpp. References G. Referenced by PL_MPEP::Establish_Self_Motion_Graph(), and PL_ForTest::Establish_Self_Motion_Graph().

bool SMGraph::OptimizeConnection (   )  [virtual]

Definition at line 181 of file SMGraph.cpp.

bool SMGraph::SetEntryConfig (  Configuration &  entry  )

Definition at line 43 of file SMGraph.cpp. References entryNode, and Lookup(). Here is the call graph for this function:

bool SMGraph::SetExitConfig (  Configuration &  exit  )

Definition at line 59 of file SMGraph.cpp. References exitNode, and Lookup(). Here is the call graph for this function:

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Member Data Documentation

list_item SMGraph::current [private]

Definition at line 62 of file SMGraph.h. Referenced by FirstConfigInPath(), NextConfigInPath(), and SMGraph().

node SMGraph::currentNode [private]

Definition at line 59 of file SMGraph.h. Referenced by FirstNode(), NextNode(), and SMGraph().

node SMGraph::entryNode [private]

Definition at line 55 of file SMGraph.h. Referenced by GetPath(), SetEntryConfig(), and SMGraph().

node SMGraph::exitNode [private]

Definition at line 56 of file SMGraph.h. Referenced by AddConnection(), GetPath(), SetExitConfig(), and SMGraph().

GRAPH<Configuration *, double> SMGraph::G [private]

Definition at line 68 of file SMGraph.h. Referenced by AddConnection(), Clear(), FirstNode(), GetConfig(), GetConfiguration(), GetPath(), GetSMGraph(), Lookup(), NewNode(), NextNode(), Node_Edge(), Node_Num(), SMGraph(), and ~SMGraph().

list<Configuration *> SMGraph::path [private]

Definition at line 63 of file SMGraph.h. Referenced by FirstConfigInPath(), GetPath(), and NextConfigInPath().

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

• planners/ik_mpep/SMGraph.h
• planners/ik_mpep/SMGraph.cpp

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