jsk_footstep_planner Namespace Reference

Namespaces
	projection_state

Classes
class	ANNGrid
	ANNGrid is a class to provide approximate near neighbors search based on 2.5-D representation. All the z values of pointcloud is ignored and it sorted as 2-D array. More...
class	ANNGridCell
class	AStarSolver
class	BestFirstSearchSolver
class	BreadthFirstSearchSolver
class	CostedGridState
class	DepthFirstSearchSolver
class	FootstepAStarSolver
class	FootstepGraph
class	FootstepMarker
struct	FootstepParameters
class	FootstepPlanner
	Actionlib server for footstep planning. More...
class	FootstepState
class	FootstepStateDiscreteCloseList
	FootstepStateDiscreteCloseList is a special clas to use for close list of FootstepState. More...
class	FootstepStateDiscreteCloseListLocal
class	Graph
class	GridAStarSolver
class	GridGraph
class	GridMap
class	GridPathPlanner
	Actionlib server for footstep planning. More...
class	GridState
class	Line2D
class	MarkerArrayPublisher
class	Node
class	OccupancyGridState
class	PerceptionGridMap
class	PointCloudModelGenerator
	just a pointcloud generator for sample usage More...
class	PosePair
class	SimpleNeighboredGraph
class	SimpleNeighboredNode
class	Solver
class	SolverNode
class	TransitionLimit
	virtual class to provide limit of transition of footstep. More...
class	TransitionLimitRP
	Class to provide limit of transition of footstep about Roll and Pitch. This class is designed for global soundness of footstep. More...
class	TransitionLimitXYZRPY
	class to provide limit of transition of footstep with 6 Full parameters. More...
class	UnknownPoseName

Typedefs
typedef GridGraph< CostedGridState >	CostedGridGraph
typedef GridMap< CostedGridState >	CostedGridMap
typedef Eigen::AngleAxisd	FootstepAngleAxis
typedef Eigen::Quaterniond	FootstepQuaternion
typedef Eigen::Affine3d	FootstepTrans
typedef Eigen::Translation3d	FootstepTranslation
typedef Eigen::Vector3d	FootstepVec
typedef GridGraph< OccupancyGridState >	OccupancyGridGraph
typedef GridMap< OccupancyGridState >	OccupancyGridMap
typedef GridGraph< CostedGridState >	PerceptionGridGraph
typedef GridGraph< GridState >	SimpleGridGraph
typedef GridMap< GridState >	SimpleGridMap

Enumerations
enum	FootstepSupportState { NOT_SUPPORTED, SUPPORTED, CLOSE_TO_SUPPORTED }
enum	GridPlanningStatus { NONE, OK, WARNING, ERROR }
enum	PlanningStatus { OK, WARNING, ERROR }

Functions
void	add3Dof2DControl (visualization_msgs::InteractiveMarker &msg, bool fixed)
Eigen::Affine3f	affineFromXYYaw (double x, double y, double yaw)
visualization_msgs::MarkerArray	footstepArrayToMarkerArray (const jsk_footstep_msgs::FootstepArray &footstep_array)
jsk_footstep_msgs::Footstep	footstepFromEigenPose (Eigen::Affine3d pose)
jsk_footstep_msgs::Footstep	footstepFromEigenPose (Eigen::Affine3f pose)
double	footstepHeuristicFollowPathLine (SolverNode< FootstepState, FootstepGraph >::Ptr node, FootstepGraph::Ptr graph)
double	footstepHeuristicStepCost (SolverNode< FootstepState, FootstepGraph >::Ptr node, FootstepGraph::Ptr graph, double first_rotation_weight, double second_rotation_weight)
double	footstepHeuristicStraight (SolverNode< FootstepState, FootstepGraph >::Ptr node, FootstepGraph::Ptr graph)
double	footstepHeuristicStraightRotation (SolverNode< FootstepState, FootstepGraph >::Ptr node, FootstepGraph::Ptr graph)
double	footstepHeuristicZero (SolverNode< FootstepState, FootstepGraph >::Ptr node, FootstepGraph::Ptr graph)
visualization_msgs::Marker	footstepToMarker (const jsk_footstep_msgs::Footstep &footstep, const std_msgs::Header &header)
double	gridPerceptionHeuristicDistance (SolverNode< PerceptionGridGraph::State, PerceptionGridGraph >::Ptr node, PerceptionGridGraph::Ptr graph)
size_t	hash_value (const FootstepState::Ptr &s)
size_t	hash_value (const GridState::Ptr &s)
std::string	projectStateToString (unsigned int state)

Typedef Documentation

CostedGridGraph

typedef GridGraph<CostedGridState> jsk_footstep_planner::CostedGridGraph

Definition at line 151 of file grid_graph.h.

CostedGridMap

typedef GridMap<CostedGridState> jsk_footstep_planner::CostedGridMap

Definition at line 147 of file grid_graph.h.

FootstepAngleAxis

typedef Eigen::AngleAxisd jsk_footstep_planner::FootstepAngleAxis

Definition at line 104 of file footstep_marker.h.

FootstepQuaternion

typedef Eigen::Quaterniond jsk_footstep_planner::FootstepQuaternion

Definition at line 103 of file footstep_marker.h.

FootstepTrans

typedef Eigen::Affine3d jsk_footstep_planner::FootstepTrans

Definition at line 100 of file footstep_marker.h.

FootstepTranslation

typedef Eigen::Translation3d jsk_footstep_planner::FootstepTranslation

Definition at line 102 of file footstep_marker.h.

FootstepVec

typedef Eigen::Vector3d jsk_footstep_planner::FootstepVec

Definition at line 101 of file footstep_marker.h.

OccupancyGridGraph

typedef GridGraph<OccupancyGridState> jsk_footstep_planner::OccupancyGridGraph

Definition at line 150 of file grid_graph.h.

OccupancyGridMap

typedef GridMap<OccupancyGridState> jsk_footstep_planner::OccupancyGridMap

Definition at line 146 of file grid_graph.h.

PerceptionGridGraph

typedef GridGraph<CostedGridState> jsk_footstep_planner::PerceptionGridGraph

Definition at line 103 of file grid_perception.h.

SimpleGridGraph

typedef GridGraph<GridState> jsk_footstep_planner::SimpleGridGraph

Definition at line 149 of file grid_graph.h.

SimpleGridMap

typedef GridMap<GridState> jsk_footstep_planner::SimpleGridMap

Definition at line 145 of file grid_graph.h.

Enumeration Type Documentation

FootstepSupportState

enum jsk_footstep_planner::FootstepSupportState

Enumerator
NOT_SUPPORTED
SUPPORTED
CLOSE_TO_SUPPORTED

Definition at line 105 of file footstep_state.h.

GridPlanningStatus

enum jsk_footstep_planner::GridPlanningStatus

Enumerator
NONE
OK
WARNING
ERROR

Definition at line 26 of file grid_path_planner.h.

PlanningStatus

enum jsk_footstep_planner::PlanningStatus

Enumerator
OK
WARNING
ERROR

Definition at line 96 of file footstep_planner.h.

Function Documentation

add3Dof2DControl()

void jsk_footstep_planner::add3Dof2DControl	(	visualization_msgs::InteractiveMarker &	msg,
		bool	fixed
	)

Definition at line 72 of file footstep_marker.cpp.

affineFromXYYaw()

Eigen::Affine3f jsk_footstep_planner::affineFromXYYaw ( double  x, double  y, double  yaw  )

inline

Definition at line 74 of file util.h.

footstepArrayToMarkerArray()

visualization_msgs::MarkerArray jsk_footstep_planner::footstepArrayToMarkerArray

(

const jsk_footstep_msgs::FootstepArray &

footstep_array

)

Definition at line 104 of file footstep_conversions.cpp.

footstepFromEigenPose() [1/2]

jsk_footstep_msgs::Footstep jsk_footstep_planner::footstepFromEigenPose

(

Eigen::Affine3d

pose

)

Definition at line 79 of file footstep_conversions.cpp.

footstepFromEigenPose() [2/2]

jsk_footstep_msgs::Footstep jsk_footstep_planner::footstepFromEigenPose

(

Eigen::Affine3f

pose

)

Definition at line 73 of file footstep_conversions.cpp.

footstepHeuristicFollowPathLine()

double jsk_footstep_planner::footstepHeuristicFollowPathLine	(	SolverNode< FootstepState, FootstepGraph >::Ptr	node,
		FootstepGraph::Ptr	graph
	)

Definition at line 488 of file footstep_graph.cpp.

footstepHeuristicStepCost()

double jsk_footstep_planner::footstepHeuristicStepCost	(	SolverNode< FootstepState, FootstepGraph >::Ptr	node,
		FootstepGraph::Ptr	graph,
		double	first_rotation_weight,
		double	second_rotation_weight
	)

Definition at line 449 of file footstep_graph.cpp.

footstepHeuristicStraight()

double jsk_footstep_planner::footstepHeuristicStraight	(	SolverNode< FootstepState, FootstepGraph >::Ptr	node,
		FootstepGraph::Ptr	graph
	)

Definition at line 427 of file footstep_graph.cpp.

footstepHeuristicStraightRotation()

double jsk_footstep_planner::footstepHeuristicStraightRotation	(	SolverNode< FootstepState, FootstepGraph >::Ptr	node,
		FootstepGraph::Ptr	graph
	)

Definition at line 438 of file footstep_graph.cpp.

footstepHeuristicZero()

double jsk_footstep_planner::footstepHeuristicZero	(	SolverNode< FootstepState, FootstepGraph >::Ptr	node,
		FootstepGraph::Ptr	graph
	)

Definition at line 420 of file footstep_graph.cpp.

footstepToMarker()

visualization_msgs::Marker jsk_footstep_planner::footstepToMarker	(	const jsk_footstep_msgs::Footstep &	footstep,
		const std_msgs::Header &	header
	)

Definition at line 86 of file footstep_conversions.cpp.

gridPerceptionHeuristicDistance()

double jsk_footstep_planner::gridPerceptionHeuristicDistance	(	SolverNode< PerceptionGridGraph::State, PerceptionGridGraph >::Ptr	node,
		PerceptionGridGraph::Ptr	graph
	)

Definition at line 106 of file grid_perception.h.

hash_value() [1/2]

size_t jsk_footstep_planner::hash_value ( const FootstepState::Ptr &  s )

inline

Definition at line 286 of file footstep_state.h.

hash_value() [2/2]

size_t jsk_footstep_planner::hash_value ( const GridState::Ptr &  s )

inline

Definition at line 87 of file grid_state.h.

projectStateToString()

std::string jsk_footstep_planner::projectStateToString

(

unsigned int

state

)

Definition at line 59 of file footstep_state.cpp.