CRedundant Class Reference

#include <planners/inversekin/Redundant.h>

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List of all members.

Public Member Functions

 CRedundant ()
 CRedundant (FrameManager *frameManager)
 ~CRedundant ()
void SetFrameManager (FrameManager *frameManager)
virtual void SetCollisionDetector (CD_BasicStyle *collisionDetector)
void SetPassiveBaseFrame (unsigned int frame)
void SetPassiveFirstJoint (unsigned int joint)
void SetPassiveLastJoint (unsigned int joint)
void SetActiveBaseFrame (unsigned int frame)
void SetActiveFirstJoint (unsigned int joint)
void SetActiveLastJoint (unsigned int joint)
void GetDesireFrameByConfiguration (const Configuration &conf, Frame &frame) const
virtual bool GetRandomConfiguration (Configuration &conf)
virtual bool GetRandomConfiguration (Configuration &conf, Configuration &desire)
virtual bool GetRandomConfiguration (Configuration &conf, Configuration &bias, Configuration &desire, double dist)
virtual bool GetRandomConfiguration (Configuration &conf, Frame &frame)
virtual bool GetRandomConfiguration (Configuration &conf, Configuration &bias, Frame &frame, double dist)
virtual bool GetConfigurationByActive (Configuration &conf, Configuration &active, Frame &frame)
virtual bool GetConfigurationByActive (Configuration &conf, Configuration &active, Configuration &bias, Frame &frame)
virtual bool GetConfigurationByActive (Configuration &conf, Configuration &active, Configuration &bias, Frame &frame, double dist)

Protected Attributes

R_OpenChain * robot
CD_BasicStyle * collisionDetector
FrameManager * frameManager
CPassive passive
CActive active
std::vector< LinkBase * > links
int activeJointNum
int passiveJointNum

Private Member Functions

void CombineConfiguration (Configuration &conf, Configuration &activeConf, Configuration &passiveConf)
void UpdateActiveConfiguration (Configuration &active)

Detailed Description

Definition at line 16 of file Redundant.h.

Constructor & Destructor Documentation

CRedundant::CRedundant (   ) 
 

Definition at line 48 of file Redundant.cpp.

CRedundant::CRedundant (  FrameManager *  frameManager  ) 
 

Definition at line 51 of file Redundant.cpp.

CRedundant::~CRedundant (   ) 
 

Definition at line 57 of file Redundant.cpp.

Member Function Documentation

void CRedundant::CombineConfiguration (  Configuration &  conf,
Configuration &  activeConf,
Configuration &  passiveConf
)  [private]
 

Definition at line 212 of file Redundant.cpp.

References activeJointNum, passiveJointNum, Configuration::SetJointVar(), and VectorN::SetLength().

Referenced by GetRandomConfiguration().

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bool CRedundant::GetConfigurationByActive (  Configuration &  conf,
Configuration &  active,
Configuration &  bias,
Frame &  frame,
double  dist
)  [virtual]
 

Definition at line 531 of file Redundant.cpp.

References active, activeJointNum, passive, CPassive::SetDesireEndEffect(), and VectorN::SetLength().

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bool CRedundant::GetConfigurationByActive (  Configuration &  conf,
Configuration &  active,
Configuration &  bias,
Frame &  frame
)  [virtual]
 

Definition at line 488 of file Redundant.cpp.

References active, activeJointNum, passive, CPassive::SetDesireEndEffect(), and VectorN::SetLength().

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bool CRedundant::GetConfigurationByActive (  Configuration &  conf,
Configuration &  active,
Frame &  frame
)  [virtual]
 

Definition at line 449 of file Redundant.cpp.

References active, activeJointNum, passive, CPassive::SetDesireEndEffect(), and VectorN::SetLength().

Referenced by PL_MPEP::Extend_Node_Self_Motion_Graph(), PL_ForTest::Extend_Node_Self_Motion_Graph(), PL_PRM_ClosedAPDecomp::MakeItClosed(), and PL_MPEP::RRT_Extend_Like().

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void CRedundant::GetDesireFrameByConfiguration (  const Configuration &  conf,
Frame &  frame
)  const
 

Definition at line 183 of file Redundant.cpp.

References activeJointNum, collisionDetector, frameManager, DH_Link::FrameNum(), FrameManager::GetFrameRef(), R_OpenChain::GetToolFrame(), FrameManager::GetTransformRelative(), links, passiveJointNum, robot, and CD_BasicStyle::SetConfiguration().

Referenced by GetRandomConfiguration(), and PL_MPEP::GetToolFrame().

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bool CRedundant::GetRandomConfiguration (  Configuration &  conf,
Configuration &  bias,
Frame &  frame,
double  dist
)  [virtual]
 

Definition at line 404 of file Redundant.cpp.

References active, activeJointNum, CombineConfiguration(), CPassive::GetConfiguration(), CActive::GetConfiguration(), passive, passiveJointNum, Rad2Deg(), CPassive::SetDesireEndEffect(), VectorN::SetLength(), and UpdateActiveConfiguration().

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bool CRedundant::GetRandomConfiguration (  Configuration &  conf,
Frame &  frame
)  [virtual]
 

Definition at line 366 of file Redundant.cpp.

References active, activeJointNum, CombineConfiguration(), CPassive::GetConfiguration(), CActive::GetConfiguration(), passive, passiveJointNum, CPassive::SetDesireEndEffect(), VectorN::SetLength(), and UpdateActiveConfiguration().

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bool CRedundant::GetRandomConfiguration (  Configuration &  conf,
Configuration &  bias,
Configuration &  desire,
double  dist
)  [virtual]
 

Definition at line 342 of file Redundant.cpp.

References GetDesireFrameByConfiguration(), and GetRandomConfiguration().

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bool CRedundant::GetRandomConfiguration (  Configuration &  conf,
Configuration &  desire
)  [virtual]
 

Definition at line 316 of file Redundant.cpp.

References GetDesireFrameByConfiguration(), and GetRandomConfiguration().

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bool CRedundant::GetRandomConfiguration (  Configuration &  conf  )  [virtual]
 

Definition at line 286 of file Redundant.cpp.

References active, activeJointNum, CombineConfiguration(), CActive::GetConfiguration(), CPassive::GetRandomConfiguration(), passive, passiveJointNum, and VectorN::SetLength().

Referenced by GetRandomConfiguration(), PL_MPEP::GetRandomConfiguration(), and PL_MPEP::InitializeTree().

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void CRedundant::SetActiveBaseFrame (  unsigned int  frame  ) 
 

Definition at line 110 of file Redundant.cpp.

References active, and CJoints::SetBaseFrame().

Referenced by PL_MPEP::SetCollisionDetector(), PL_PRM_ClosedAPDecomp::SetCollisionDetector(), and PL_MPEP::SetPassiveNum().

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void CRedundant::SetActiveFirstJoint (  unsigned int  joint  ) 
 

Definition at line 120 of file Redundant.cpp.

References active, and CJoints::SetFirstJoint().

Referenced by PL_MPEP::SetCollisionDetector(), PL_PRM_ClosedAPDecomp::SetCollisionDetector(), and PL_MPEP::SetPassiveNum().

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void CRedundant::SetActiveLastJoint (  unsigned int  joint  ) 
 

Definition at line 130 of file Redundant.cpp.

References active, activeJointNum, CJoints::jointNum, and CJoints::SetLastJoint().

Referenced by PL_MPEP::SetCollisionDetector(), PL_PRM_ClosedAPDecomp::SetCollisionDetector(), and PL_MPEP::SetPassiveNum().

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void CRedundant::SetCollisionDetector (  CD_BasicStyle *  collisionDetector  )  [virtual]
 

Definition at line 148 of file Redundant.cpp.

References active, collisionDetector, R_OpenChain::GetAllLinks(), CD_BasicStyle::GetRobot(), links, passive, robot, CPassive::SetRobot(), and CJoints::SetRobot().

Referenced by PL_MPEP::SetCollisionDetector(), and PL_PRM_ClosedAPDecomp::SetCollisionDetector().

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void CRedundant::SetFrameManager (  FrameManager *  frameManager  ) 
 

Definition at line 65 of file Redundant.cpp.

References active, frameManager, passive, and CJoints::SetFrameManager().

Referenced by PL_MPEP::SetCollisionDetector(), and PL_PRM_ClosedAPDecomp::SetCollisionDetector().

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void CRedundant::SetPassiveBaseFrame (  unsigned int  frame  ) 
 

Definition at line 77 of file Redundant.cpp.

References passive, and CJoints::SetBaseFrame().

Referenced by PL_MPEP::SetCollisionDetector(), PL_PRM_ClosedAPDecomp::SetCollisionDetector(), and PL_MPEP::SetPassiveNum().

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void CRedundant::SetPassiveFirstJoint (  unsigned int  joint  ) 
 

Definition at line 88 of file Redundant.cpp.

References passive, and CJoints::SetFirstJoint().

Referenced by PL_MPEP::SetCollisionDetector(), PL_PRM_ClosedAPDecomp::SetCollisionDetector(), and PL_MPEP::SetPassiveNum().

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void CRedundant::SetPassiveLastJoint (  unsigned int  joint  ) 
 

Definition at line 98 of file Redundant.cpp.

References CJoints::jointNum, passive, passiveJointNum, and CPassive::SetLastJoint().

Referenced by PL_MPEP::SetCollisionDetector(), PL_PRM_ClosedAPDecomp::SetCollisionDetector(), and PL_MPEP::SetPassiveNum().

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void CRedundant::UpdateActiveConfiguration (  Configuration &  active  )  [private]
 

Definition at line 244 of file Redundant.cpp.

References active, and links.

Referenced by GetRandomConfiguration().

Member Data Documentation

CActive CRedundant::active [protected]
 

Definition at line 62 of file Redundant.h.

Referenced by GetConfigurationByActive(), GetRandomConfiguration(), SetActiveBaseFrame(), SetActiveFirstJoint(), SetActiveLastJoint(), SetCollisionDetector(), SetFrameManager(), and UpdateActiveConfiguration().

int CRedundant::activeJointNum [protected]
 

Definition at line 64 of file Redundant.h.

Referenced by CombineConfiguration(), GetConfigurationByActive(), GetDesireFrameByConfiguration(), GetRandomConfiguration(), and SetActiveLastJoint().

CD_BasicStyle* CRedundant::collisionDetector [protected]
 

Definition at line 59 of file Redundant.h.

Referenced by GetDesireFrameByConfiguration(), and SetCollisionDetector().

FrameManager* CRedundant::frameManager [protected]
 

Definition at line 60 of file Redundant.h.

Referenced by GetDesireFrameByConfiguration(), and SetFrameManager().

std::vector< LinkBase*> CRedundant::links [protected]
 

Definition at line 63 of file Redundant.h.

Referenced by GetDesireFrameByConfiguration(), SetCollisionDetector(), and UpdateActiveConfiguration().

CPassive CRedundant::passive [protected]
 

Definition at line 61 of file Redundant.h.

Referenced by GetConfigurationByActive(), GetRandomConfiguration(), SetCollisionDetector(), SetFrameManager(), SetPassiveBaseFrame(), SetPassiveFirstJoint(), and SetPassiveLastJoint().

int CRedundant::passiveJointNum [protected]
 

Definition at line 65 of file Redundant.h.

Referenced by CombineConfiguration(), GetDesireFrameByConfiguration(), GetRandomConfiguration(), and SetPassiveLastJoint().

R_OpenChain* CRedundant::robot [protected]
 

Definition at line 58 of file Redundant.h.

Referenced by GetDesireFrameByConfiguration(), and SetCollisionDetector().

The documentation for this class was generated from the following files:
Generated on Sat Apr 1 21:46:52 2006 for Motion Planning Kernel by  doxygen 1.4.6-NO