IK_ACA Class Reference

#include <planners/ik_aca/IK_ACA.h>

Inherits IK_InvKinBase, and PL_GraphBase.

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Public Member Functions
	IK_ACA ()
virtual	~IK_ACA ()
virtual bool	DrawExplicit () const
virtual bool	Load (const char *filename)
virtual bool	Plan ()
virtual bool	Save (const char *filename) const
virtual void	SetStartConfig (const Configuration &configuration)
virtual void	SetGoalConfig (const Configuration &configuration)
void	SetEmbryosPerLandmark (const int &num_of_embryos)
int	GetEmbryosPerLandmark () const
virtual void	SetCollisionDetector (CollisionDetectorBase *collisionDetector)
virtual void	CopySettings (PlannerBase *original)
Protected Member Functions
virtual void	AssignGoalConfig (const Configuration &config)
virtual bool	SaveContents (std::ofstream &outfile) const
virtual bool	LoadContents (std::ifstream &infile)
virtual bool	DrawSpecific () const
virtual void	InitNewSearch ()
virtual double	FrameDistance (const Matrix4x4 &frameA, const Matrix4x4 &frameB) const
SuccessResultType	ComputePath (const node &landmark, const list< Configuration > &myPath)
node	Explore ()
SuccessResultType	Search (const node &landmark)
SuccessResultType	Search1 (const node &landmark)
VectorN	ComputeEndEffDiff (Matrix4x4 &frStart, Matrix4x4 &frEnd)
Configuration	GetNextConfig (Configuration &q0)
double	FindJointAdjust (const unsigned int &jointNum, const Matrix4x4 &toolFrame) const
Configuration	MinimizeDistance (const Configuration &config, list< Configuration > &minPath)
void	CreateEmbryo (const node &landmark, const int &embryoID)
void	CreateEmbryos (const node &landmark)
Protected Attributes
node_map< Configuration > *	embryo
list< Configuration >	searchPath
Private Member Functions
void	InitBestParams ()
Private Attributes
int	embryosPerLandmark
node	searchLandmark
node	bestLandmark
list< Configuration >	bestPath
double	bestDistance_sq
int	m_FrameID
CJacobian *	jacobian

Detailed Description

Definition at line 33 of file IK_ACA.h.

Constructor & Destructor Documentation

IK_ACA::IK_ACA ( )

Definition at line 56 of file IK_ACA.cpp.
References DEFAULT_EMBRYOS_PER_NODE, embryo, embryosPerLandmark, FILEEXT, PL_GraphBase::fileext, FILEHEADER, PL_GraphBase::fileheader, and PL_GraphBase::G.

IK_ACA::~IK_ACA ( ) [virtual]

Definition at line 85 of file IK_ACA.cpp.
References embryo.

Member Function Documentation

void IK_ACA::AssignGoalConfig ( const Configuration & config ) [protected, virtual]

Reimplemented from IK_InvKinBase.
Definition at line 476 of file IK_ACA.cpp.
References IK_InvKinBase::AssignGoalConfig(), embryo, embryosPerLandmark, PL_GraphBase::goalNode, and PL_GraphBase::SetGoalConfig().
Referenced by ComputePath().
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VectorN IK_ACA::ComputeEndEffDiff ( Matrix4x4 & frStart,

Matrix4x4 & frEnd

) [protected]

Definition at line 829 of file IK_ACA.cpp.
References Matrix4x4::Inverse(), VectorN::SetLength(), and Matrix4x4::values.
Referenced by GetNextConfig().
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SuccessResultType IK_ACA::ComputePath ( const node & landmark,

const list< Configuration > & myPath

) [protected]

Definition at line 1312 of file IK_ACA.cpp.
References PA_Points::AppendPoint(), AssignGoalConfig(), PL_GraphBase::ClearGraphPath(), PL_GraphBase::G, PL_GraphBase::graphPath, PL_Boolean_Output::path, PL_GraphBase::startNode, and PL_GraphBase::TranslatePath().
Referenced by Plan().
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void IK_ACA::CopySettings ( PlannerBase * original ) [virtual]

Reimplemented from IK_InvKinBase.
Definition at line 514 of file IK_ACA.cpp.
References PL_GraphBase::CopySettings(), IK_InvKinBase::CopySettings(), embryosPerLandmark, InitNewSearch(), and SetEmbryosPerLandmark().
Referenced by ServerBase::RefreshPlanner().
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void IK_ACA::CreateEmbryo ( const node & landmark,

const int & embryoID

) [protected]

Definition at line 555 of file IK_ACA.cpp.
References PL_HasCollisionDetector::collisionDetector, embryo, PL_GraphBase::G, PL_GraphBase::GenerateRandomConfig(), CD_Linear::GetLastIntersection(), PL_GraphBase::GetMidPoint(), PlannerBase::GetStartConfig(), and PL_GraphBase::IsInterfering().
Referenced by CreateEmbryos().
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void IK_ACA::CreateEmbryos ( const node & landmark ) [protected]

Definition at line 540 of file IK_ACA.cpp.
References CreateEmbryo(), and embryosPerLandmark.
Referenced by SetStartConfig().
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bool IK_ACA::DrawExplicit ( ) const [virtual]

Reimplemented from IK_InvKinBase.
Definition at line 100 of file IK_ACA.cpp.
References PL_GraphBase::DrawExplicit().
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bool IK_ACA::DrawSpecific ( ) const [protected, virtual]

Reimplemented from PL_GraphBase.
Definition at line 350 of file IK_ACA.cpp.
References embryo, embryosPerLandmark, PL_GraphBase::G, and PL_GraphBase::GetCoords().
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node IK_ACA::Explore ( ) [protected]

Definition at line 598 of file IK_ACA.cpp.
References PL_GraphBase::Distance(), embryo, embryosPerLandmark, PL_GraphBase::G, and INFINITY.
Referenced by Plan().
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double IK_ACA::FindJointAdjust ( const unsigned int & jointNum,

const Matrix4x4 & toolFrame

) const [protected]

Definition at line 917 of file IK_ACA.cpp.
References PL_HasCollisionDetector::collisionDetector, DH_A, DH_ALPHA, DH_D, DH_THETA, CD_BasicStyle::GetFrameManager(), FrameManager::GetTransformRelative(), FrameManager::GetWorldFrame(), IK_InvKinBase::goalFrame, CD_BasicStyle::JointFrameNum(), CD_BasicStyle::JointType(), M_PI, PX, PY, PZ, and Rad2Deg().
Referenced by MinimizeDistance().
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double IK_ACA::FrameDistance ( const Matrix4x4 & frameA,

const Matrix4x4 & frameB

) const [protected, virtual]

Definition at line 1151 of file IK_ACA.cpp.
References Vector4::MagSquared(), PX, PY, and PZ.
Referenced by InitBestParams(), Search(), and Search1().
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int IK_ACA::GetEmbryosPerLandmark ( ) const

Definition at line 1195 of file IK_ACA.cpp.
References embryosPerLandmark.

Configuration IK_ACA::GetNextConfig ( Configuration & q0 ) [protected]

Definition at line 865 of file IK_ACA.cpp.
References ComputeEndEffDiff(), IK_InvKinBase::GetToolFrame(), IK_InvKinBase::goalFrame, VectorN::Magnitude(), VectorN::Normalize(), and SAMPLING_TIME.
Referenced by Search1().
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void IK_ACA::InitBestParams ( ) [private]

Definition at line 1291 of file IK_ACA.cpp.
References bestDistance_sq, bestLandmark, bestPath, PL_HasCollisionDetector::collisionDetector, FrameDistance(), PlannerBase::GetGoalConfig(), IK_InvKinBase::GetToolFrame(), IK_InvKinBase::goalFrame, INFINITY, and PL_GraphBase::startNode.
Referenced by InitNewSearch().
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void IK_ACA::InitNewSearch ( ) [protected, virtual]

Reimplemented from IK_InvKinBase.
Definition at line 1272 of file IK_ACA.cpp.
References PlannerBase::GetStartConfig(), InitBestParams(), searchLandmark, SetGoalConfig(), and PL_GraphBase::startNode.
Referenced by CopySettings(), and SetStartConfig().
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bool IK_ACA::Load ( const char * filename ) [virtual]

Reimplemented from IK_InvKinBase.
Definition at line 112 of file IK_ACA.cpp.
References PL_GraphBase::Load().
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bool IK_ACA::LoadContents ( std::ifstream & infile ) [protected, virtual]

Reimplemented from PL_GraphBase.
Definition at line 126 of file IK_ACA.cpp.
References embryo, embryosPerLandmark, PL_GraphBase::G, PL_GraphBase::LoadContents(), and IK_InvKinBase::SetGoalFrame().
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Configuration IK_ACA::MinimizeDistance ( const Configuration & config,

list< Configuration > & minPath

) [protected]

Definition at line 1075 of file IK_ACA.cpp.
References VectorN::clear(), PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::DOF(), FindJointAdjust(), IK_InvKinBase::GetToolFrame(), CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), and CD_BasicStyle::JointWraps().
Referenced by Search().
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bool IK_ACA::Plan ( ) [virtual]

Reimplemented from IK_InvKinBase.
Definition at line 184 of file IK_ACA.cpp.
References bestPath, PL_GraphBase::ClearGraphPath(), ComputePath(), Explore(), FAIL, PL_GraphBase::G, PlannerBase::GetStartConfig(), PL_GraphBase::goalNode, PlannerBase::guid, PL_GraphBase::IsInterfering(), Semaphore::Lock(), PASS, Search(), searchLandmark, searchPath, PL_GraphBase::startNode, PlannerBase::StartTimer(), and Semaphore::Unlock().
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bool IK_ACA::Save ( const char * filename ) const [virtual]

Reimplemented from IK_InvKinBase.
Definition at line 290 of file IK_ACA.cpp.
References PL_GraphBase::Save().
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bool IK_ACA::SaveContents ( std::ofstream & outfile ) const [protected, virtual]

Reimplemented from PL_GraphBase.
Definition at line 304 of file IK_ACA.cpp.
References embryo, embryosPerLandmark, PL_GraphBase::G, IK_InvKinBase::GetGoalFrameVector(), and PL_GraphBase::SaveContents().
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SuccessResultType IK_ACA::Search ( const node & landmark ) [protected]

Definition at line 659 of file IK_ACA.cpp.
References bestDistance_sq, bestLandmark, bestPath, VectorN::Compare(), DEFAULT_TOL, DEFAULT_TOL1, FAIL, FrameDistance(), PL_GraphBase::G, IK_InvKinBase::GetToolFrame(), IK_InvKinBase::goalFrame, PlannerBase::guid, PlannerBase::HasTimeLimitExpired(), PL_GraphBase::IsInterfering(), Semaphore::Lock(), MinimizeDistance(), PASS, searchPath, and Semaphore::Unlock().
Referenced by Plan().
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SuccessResultType IK_ACA::Search1 ( const node & landmark ) [protected]

Definition at line 738 of file IK_ACA.cpp.
References bestDistance_sq, bestLandmark, bestPath, PL_HasCollisionDetector::collisionDetector, DEFAULT_TOL, DEFAULT_TOL1, Configuration::DOF(), FAIL, FrameDistance(), PL_GraphBase::G, GetNextConfig(), IK_InvKinBase::GetToolFrame(), IK_InvKinBase::goalFrame, PlannerBase::guid, PlannerBase::HasTimeLimitExpired(), CD_BasicStyle::JointMax(), CD_BasicStyle::JointMin(), Semaphore::Lock(), PASS, searchPath, and Semaphore::Unlock().
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void IK_ACA::SetCollisionDetector ( CollisionDetectorBase * collisionDetector ) [virtual]

Reimplemented from PlannerBase.
Definition at line 891 of file IK_ACA.cpp.
References PL_HasCollisionDetector::collisionDetector, CD_BasicStyle::GetRobot(), jacobian, and PL_GraphBase::SetCollisionDetector().
Referenced by ServerBase::RefreshPlanner().
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void IK_ACA::SetEmbryosPerLandmark ( const int & num_of_embryos )

Definition at line 1211 of file IK_ACA.cpp.
References embryo, embryosPerLandmark, and PL_GraphBase::G.
Referenced by CopySettings().

void IK_ACA::SetGoalConfig ( const Configuration & configuration ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 458 of file IK_ACA.cpp.
References PlannerBase::GetGoalConfig(), and PlannerBase::SetGoalConfig().
Referenced by InitNewSearch().
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void IK_ACA::SetStartConfig ( const Configuration & configuration ) [virtual]

Reimplemented from PL_GraphBase.
Definition at line 423 of file IK_ACA.cpp.
References PL_GraphBase::ClearGraph(), CreateEmbryos(), PlannerBase::GetStartConfig(), InitNewSearch(), searchPath, PL_GraphBase::SetStartConfig(), and PL_GraphBase::startNode.
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Member Data Documentation

double IK_ACA::bestDistance_sq [private]

Definition at line 137 of file IK_ACA.h.
Referenced by InitBestParams(), Search(), and Search1().

node IK_ACA::bestLandmark [private]

Definition at line 135 of file IK_ACA.h.
Referenced by InitBestParams(), Search(), and Search1().

list<Configuration> IK_ACA::bestPath [private]

Definition at line 136 of file IK_ACA.h.
Referenced by InitBestParams(), Plan(), Search(), and Search1().

node_map<Configuration>* IK_ACA::embryo [protected]

Definition at line 124 of file IK_ACA.h.
Referenced by AssignGoalConfig(), CreateEmbryo(), DrawSpecific(), Explore(), IK_ACA(), LoadContents(), SaveContents(), SetEmbryosPerLandmark(), and ~IK_ACA().

int IK_ACA::embryosPerLandmark [private]

Definition at line 131 of file IK_ACA.h.
Referenced by AssignGoalConfig(), CopySettings(), CreateEmbryos(), DrawSpecific(), Explore(), GetEmbryosPerLandmark(), IK_ACA(), LoadContents(), SaveContents(), and SetEmbryosPerLandmark().

CJacobian* IK_ACA::jacobian [private]

Definition at line 139 of file IK_ACA.h.
Referenced by SetCollisionDetector().

int IK_ACA::m_FrameID [private]

Definition at line 138 of file IK_ACA.h.

node IK_ACA::searchLandmark [private]

Definition at line 132 of file IK_ACA.h.
Referenced by InitNewSearch(), and Plan().

list<Configuration> IK_ACA::searchPath [protected]

Definition at line 127 of file IK_ACA.h.
Referenced by Plan(), Search(), Search1(), and SetStartConfig().

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

planners/ik_aca/IK_ACA.h
planners/ik_aca/IK_ACA.cpp

Generated on Sat Apr 1 21:50:04 2006 for Motion Planning Kernel by

1.4.6-NO

IK_ACA Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation