EnvironmentROBARM Class Reference

planar kinematic robot arm of variable number of degrees of freedom More...

#include <environment_robarm.h>

Inheritance diagram for EnvironmentROBARM:

Public Member Functions
int	GetFromToHeuristic (int FromStateID, int ToStateID)
	see comments on the same function in the parent class
int	GetGoalHeuristic (int stateID)
	see comments on the same function in the parent class
void	GetPreds (int TargetStateID, vector< int > PredIDV, vector< int > CostV)
	see comments on the same function in the parent class
int	GetStartHeuristic (int stateID)
	see comments on the same function in the parent class
void	GetSuccs (int SourceStateID, vector< int > SuccIDV, vector< int > CostV)
	see comments on the same function in the parent class
bool	InitializeEnv (const char *sEnvFile)
	initialize environment from a file (see .cfg files in robotarm directory for example)
bool	InitializeMDPCfg (MDPConfig *MDPCfg)
	initialize MDP config with IDs of start/goal
void	PrintEnv_Config (FILE *fOut)
	see comments on the same function in the parent class
void	PrintState (int stateID, bool bVerbose, FILE *fOut=NULL)
	see comments on the same function in the parent class
void	PrintTimeStat (FILE *fOut)
	prints out some runtime statistics
void	SetAllActionsandAllOutcomes (CMDPSTATE *state)
	see comments on the same function in the parent class
void	SetAllPreds (CMDPSTATE *state)
	see comments on the same function in the parent class
int	SizeofCreatedEnv ()
	see comments on the same function in the parent class
	~EnvironmentROBARM ()
Private Member Functions
bool	AreEquivalent (int State1ID, int State2ID)
	returns true if two states meet the same condition, brief this is used in some planners to figure out if two states are the same in some lower-dimensional manifold for example, in robotarm planning, two states could be equivalent if their end effectors are at the same position unless overwritten in a child class, this function is not implemented
void	Cell2ContXY (int x, int y, double pX, double pY)
void	ComputeContAngles (short unsigned int coord[NUMOFLINKS], double angle[NUMOFLINKS])
void	ComputeCoord (double angle[NUMOFLINKS], short unsigned int coord[NUMOFLINKS])
int	ComputeEndEffectorPos (double angles[NUMOFLINKS], short unsigned int pX, short unsigned int pY)
void	ComputeHeuristicValues ()
void	ContXY2Cell (double x, double y, short unsigned int pX, short unsigned int pY)
int	cost (short unsigned int state1coord[], short unsigned int state2coord[])
void	Create2DStateSpace (State2D ***statespace2D)
EnvROBARMHashEntry_t *	CreateNewHashEntry (short unsigned int *coord, int numofcoord, short unsigned int endeffx, short unsigned int endeffy)
void	CreateStartandGoalStates ()
void	Delete2DStateSpace (State2D ***statespace2D)
void	DiscretizeAngles ()
int	distanceincoord (unsigned short statecoord1, unsigned short statecoord2)
int	GetEdgeCost (int FromStateID, int ToStateID)
unsigned int	GETHASHBIN (short unsigned int *coord, int numofcoord)
EnvROBARMHashEntry_t *	GetHashEntry (short unsigned int *coord, int numofcoord, bool bIsGoal)
unsigned int	GetHeurBasedonCoord (short unsigned int coord[NUMOFLINKS])
int	GetRandomState ()
void	GetRandomSuccsatDistance (int SourceStateID, std::vector< int > SuccIDV, std::vector< int > CLowV)
	the following two functions generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment. NOTE: they MUST generate goal state as a succ/pred if it is within the distance from the state CLowV is the corresponding vector of lower bounds on the costs from the state to the successor states (or vice versa for preds function) unless overwritten in a child class, this function is not implemented
void	InitializeEnvConfig ()
bool	InitializeEnvironment ()
void	InitializeState2D (State2D *state, short unsigned int x, short unsigned int y)
bool	IsValidCell (int X, int Y)
int	IsValidCoord (short unsigned int coord[NUMOFLINKS], char *Grid2D=NULL, vector< CELLV > pTestedCells=NULL)
int	IsValidLineSegment (double x0, double y0, double x1, double y1, char *Grid2D, vector< CELLV > pTestedCells)
bool	IsWithinMapCell (int X, int Y)
void	printangles (FILE fOut, short unsigned int coord, bool bGoal, bool bVerbose, bool bLocal)
void	PrintHashTableHist ()
void	PrintHeader (FILE *fOut)
void	PrintSuccGoal (int SourceStateID, int costtogoal, bool bVerbose, bool bLocal, FILE *fOut)
void	ReadConfiguration (FILE *fCfg)
void	ReInitializeState2D (State2D *state)
void	Search2DwithQueue (State2D *statespace, int HeurGrid, int searchstartx, int searchstarty)
Private Attributes
EnvironmentROBARM_t	EnvROBARM
EnvROBARMConfig_t	EnvROBARMCfg

Detailed Description

planar kinematic robot arm of variable number of degrees of freedom

Definition at line 119 of file environment_robarm.h.

Constructor & Destructor Documentation

EnvironmentROBARM::~EnvironmentROBARM ( ) [inline]

Definition at line 165 of file environment_robarm.h.

Member Function Documentation

bool EnvironmentROBARM::AreEquivalent	(	int	StateID1,
		int	StateID2
	)			`[private, virtual]`

returns true if two states meet the same condition, brief this is used in some planners to figure out if two states are the same in some lower-dimensional manifold for example, in robotarm planning, two states could be equivalent if their end effectors are at the same position unless overwritten in a child class, this function is not implemented

Reimplemented from DiscreteSpaceInformation.

Definition at line 1753 of file environment_robarm.cpp.

void EnvironmentROBARM::Cell2ContXY	(	int	x,
		int	y,
		double *	pX,
		double *	pY
	)			`[private]`

Definition at line 876 of file environment_robarm.cpp.

void EnvironmentROBARM::ComputeContAngles	(	short unsigned int	coord[NUMOFLINKS],
		double	angle[NUMOFLINKS]
	)			`[private]`

Definition at line 833 of file environment_robarm.cpp.

void EnvironmentROBARM::ComputeCoord	(	double	angle[NUMOFLINKS],
		short unsigned int	coord[NUMOFLINKS]
	)			`[private]`

Definition at line 843 of file environment_robarm.cpp.

int EnvironmentROBARM::ComputeEndEffectorPos	(	double	angles[NUMOFLINKS],
		short unsigned int *	pX,
		short unsigned int *	pY
	)			`[private]`

Definition at line 895 of file environment_robarm.cpp.

void EnvironmentROBARM::ComputeHeuristicValues ( ) [private]

Definition at line 413 of file environment_robarm.cpp.

void EnvironmentROBARM::ContXY2Cell	(	double	x,
		double	y,
		short unsigned int *	pX,
		short unsigned int *	pY
	)			`[private]`

Definition at line 882 of file environment_robarm.cpp.

int EnvironmentROBARM::cost	(	short unsigned int	state1coord[],
		short unsigned int	state2coord[]
	)			`[private]`

Definition at line 1040 of file environment_robarm.cpp.

void EnvironmentROBARM::Create2DStateSpace ( State2D *** statespace2D ) [private]

Definition at line 384 of file environment_robarm.cpp.

EnvROBARMHashEntry_t * EnvironmentROBARM::CreateNewHashEntry	(	short unsigned int *	coord,
		int	numofcoord,
		short unsigned int	endeffx,
		short unsigned int	endeffy
	)			`[private]`

Definition at line 160 of file environment_robarm.cpp.

void EnvironmentROBARM::CreateStartandGoalStates ( ) [private]

void EnvironmentROBARM::Delete2DStateSpace ( State2D *** statespace2D ) [private]

Definition at line 400 of file environment_robarm.cpp.

void EnvironmentROBARM::DiscretizeAngles ( ) [private]

Definition at line 818 of file environment_robarm.cpp.

int EnvironmentROBARM::distanceincoord	(	unsigned short *	statecoord1,
		unsigned short *	statecoord2
	)			`[private]`

Definition at line 212 of file environment_robarm.cpp.

int EnvironmentROBARM::GetEdgeCost	(	int	FromStateID,
		int	ToStateID
	)			`[private]`

Definition at line 1628 of file environment_robarm.cpp.

int EnvironmentROBARM::GetFromToHeuristic	(	int	FromStateID,
		int	ToStateID
	)			`[virtual]`

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 1169 of file environment_robarm.cpp.

int EnvironmentROBARM::GetGoalHeuristic ( int stateID ) [virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 1212 of file environment_robarm.cpp.

unsigned int EnvironmentROBARM::GETHASHBIN	(	short unsigned int *	coord,
		int	numofcoord
	)			`[private]`

Definition at line 72 of file environment_robarm.cpp.

EnvROBARMHashEntry_t * EnvironmentROBARM::GetHashEntry	(	short unsigned int *	coord,
		int	numofcoord,
		bool	bIsGoal
	)			`[private]`

Definition at line 114 of file environment_robarm.cpp.

unsigned int EnvironmentROBARM::GetHeurBasedonCoord ( short unsigned int coord[NUMOFLINKS] ) [private]

Definition at line 857 of file environment_robarm.cpp.

void EnvironmentROBARM::GetPreds	(	int	TargetStateID,
		vector< int > *	PredIDV,
		vector< int > *	CostV
	)

see comments on the same function in the parent class

Definition at line 1480 of file environment_robarm.cpp.

int EnvironmentROBARM::GetRandomState ( ) [private]

Definition at line 1649 of file environment_robarm.cpp.

void EnvironmentROBARM::GetRandomSuccsatDistance	(	int	SourceStateID,
		std::vector< int > *	SuccIDV,
		std::vector< int > *	CLowV
	)			`[private, virtual]`

the following two functions generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment. NOTE: they MUST generate goal state as a succ/pred if it is within the distance from the state CLowV is the corresponding vector of lower bounds on the costs from the state to the successor states (or vice versa for preds function) unless overwritten in a child class, this function is not implemented

Reimplemented from DiscreteSpaceInformation.

Definition at line 1489 of file environment_robarm.cpp.

int EnvironmentROBARM::GetStartHeuristic ( int stateID ) [virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 1230 of file environment_robarm.cpp.

void EnvironmentROBARM::GetSuccs	(	int	SourceStateID,
		vector< int > *	SuccIDV,
		vector< int > *	CostV
	)

see comments on the same function in the parent class

Definition at line 1397 of file environment_robarm.cpp.

bool EnvironmentROBARM::InitializeEnv ( const char * sEnvFile ) [virtual]

initialize environment from a file (see .cfg files in robotarm directory for example)

Implements DiscreteSpaceInformation.

Definition at line 1132 of file environment_robarm.cpp.

void EnvironmentROBARM::InitializeEnvConfig ( ) [private]

Definition at line 1068 of file environment_robarm.cpp.

bool EnvironmentROBARM::InitializeEnvironment ( ) [private]

Definition at line 1074 of file environment_robarm.cpp.

bool EnvironmentROBARM::InitializeMDPCfg ( MDPConfig * MDPCfg ) [virtual]

initialize MDP config with IDs of start/goal

Implements DiscreteSpaceInformation.

Definition at line 1159 of file environment_robarm.cpp.

void EnvironmentROBARM::InitializeState2D	(	State2D *	state,
		short unsigned int	x,
		short unsigned int	y
	)			`[private]`

Definition at line 234 of file environment_robarm.cpp.

bool EnvironmentROBARM::IsValidCell	(	int	X,
		int	Y
	)			`[private]`

int EnvironmentROBARM::IsValidCoord	(	short unsigned int	coord[NUMOFLINKS],
		char **	Grid2D = `NULL`,
		vector< CELLV > *	pTestedCells = `NULL`
	)			`[private]`

Definition at line 971 of file environment_robarm.cpp.

int EnvironmentROBARM::IsValidLineSegment	(	double	x0,
		double	y0,
		double	x1,
		double	y1,
		char **	Grid2D,
		vector< CELLV > *	pTestedCells
	)			`[private]`

Definition at line 924 of file environment_robarm.cpp.

bool EnvironmentROBARM::IsWithinMapCell	(	int	X,
		int	Y
	)			`[private]`

void EnvironmentROBARM::printangles	(	FILE *	fOut,
		short unsigned int *	coord,
		bool	bGoal,
		bool	bVerbose,
		bool	bLocal
	)			`[private]`

Definition at line 468 of file environment_robarm.cpp.

void EnvironmentROBARM::PrintEnv_Config ( FILE * fOut ) [virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 1369 of file environment_robarm.cpp.

void EnvironmentROBARM::PrintHashTableHist ( ) [private]

Definition at line 88 of file environment_robarm.cpp.

void EnvironmentROBARM::PrintHeader ( FILE * fOut ) [private]

Definition at line 1379 of file environment_robarm.cpp.

void EnvironmentROBARM::PrintState	(	int	stateID,
		bool	bVerbose,
		FILE *	fOut = `NULL`
	)			`[virtual]`

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 1271 of file environment_robarm.cpp.

void EnvironmentROBARM::PrintSuccGoal	(	int	SourceStateID,
		int	costtogoal,
		bool	bVerbose,
		bool	bLocal,
		FILE *	fOut
	)			`[private]`

Definition at line 1309 of file environment_robarm.cpp.

void EnvironmentROBARM::PrintTimeStat ( FILE * fOut )

prints out some runtime statistics

void EnvironmentROBARM::ReadConfiguration ( FILE * fCfg ) [private]

Definition at line 655 of file environment_robarm.cpp.

void EnvironmentROBARM::ReInitializeState2D ( State2D * state ) [private]

Definition at line 228 of file environment_robarm.cpp.

void EnvironmentROBARM::Search2DwithQueue	(	State2D **	statespace,
		int *	HeurGrid,
		int	searchstartx,
		int	searchstarty
	)			`[private]`

Definition at line 309 of file environment_robarm.cpp.

void EnvironmentROBARM::SetAllActionsandAllOutcomes ( CMDPSTATE * state ) [virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 1388 of file environment_robarm.cpp.

void EnvironmentROBARM::SetAllPreds ( CMDPSTATE * state ) [virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 1256 of file environment_robarm.cpp.

int EnvironmentROBARM::SizeofCreatedEnv ( ) [virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 1265 of file environment_robarm.cpp.

Member Data Documentation

EnvironmentROBARM_t EnvironmentROBARM::EnvROBARM [private]

Definition at line 174 of file environment_robarm.h.

EnvROBARMConfig_t EnvironmentROBARM::EnvROBARMCfg [private]

Definition at line 173 of file environment_robarm.h.

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

EnvironmentROBARM Class Reference

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation