#include <sbpl_arm_planner_params.h>
Public Member Functions | |
| void | addMotionPrim (std::vector< double > mprim, bool add_converse, bool short_dist_mprim) |
| add a motion primitive vector to the list | |
| double | getLargestMotionPrimOffset () |
| NOTE: For computing cost for IK and OS solutions. | |
| double | getSmallestShoulderPanMotion () |
| bool | initFromParamFile (FILE *fCfg) |
| grab parameters from a text file | |
| bool | initFromParamFile (std::string param_file) |
| grab parameters from a text file | |
| void | initFromParamServer () |
| grab parameters from the ROS param server | |
| bool | initFromResource (std::string url) |
| use a resource retriever to grab params from a file | |
| bool | initMotionPrimsFromFile (FILE *fCfg) |
| grab motion primitives from a text file | |
| void | precomputeSmoothingCosts () |
| precompute the smoothing cost from each mprim to every other mprim | |
| void | printMotionPrims (FILE *fOut) |
| print the motion primitives | |
| void | printParams (FILE *fOut) |
| print out the parameters | |
| void | printSmoothingCosts (FILE *fOut) |
| print the smoothing cost table | |
| SBPLArmPlannerParams () | |
| default constructor (just assigns default values) | |
| void | setCellCost (int cost_per_cell) |
| set the cost per cell | |
| ~SBPLArmPlannerParams () | |
| destructor | |
Public Attributes | |
| int | angle_delta_ |
| discretization of joint angles (default: 360) | |
| int | cost_multiplier_ |
| cost multiplier (so we don't have to deal with doubles) | |
| int | cost_per_cell_ |
| cost of moving one cell in the grid | |
| int | cost_per_meter_ |
| cost of moving one meter (only used when euclidean distance is used as the heuristic instead of dijkstra) | |
| double | epsilon_ |
| epsilon to be used by planner (epsilon is the bounds on the suboptimality of the solution of a weighted A* type search) | |
| int | is_goal_function_ |
| set which function to use to check if at goal position | |
| double | max_mprim_offset_ |
| std::vector< std::vector < double > > | mprims_ |
| the 2D array of motion primitives | |
| int | num_long_dist_mprims_ |
| number of long distance motion primitives | |
| int | num_mprims_ |
| total number of motion primitives | |
| int | num_short_dist_mprims_ |
| number of short distance motion primitives | |
| double | originX_ |
| origin of collision space | |
| double | originY_ |
| double | originZ_ |
| std::string | planner_name_ |
| int | range1_cost_ |
| int | range2_cost_ |
| int | range3_cost_ |
| double | resolution_ |
| resolution of collision space | |
| int | short_dist_mprims_thresh_c_ |
| distance from goal pose in cells to switch to using short distance motion primitives + long distance motion primitives | |
| double | short_dist_mprims_thresh_m_ |
| distance from goal pose in meters to switch to using short distance motion primitives + long distance motion primitives | |
| double | sizeX_ |
| size of collision space | |
| double | sizeY_ |
| double | sizeZ_ |
| std::vector< std::vector< int > > | smoothing_cost_ |
| cost of transitioning from mprim to mprim, this provides the smoothing factor | |
| int | solve_for_ik_thresh_ |
| double | solve_for_ik_thresh_m_ |
| bool | sum_heuristics_ |
| add the h_rpy & h_xyz together | |
| bool | two_calls_to_op_ |
| bool | use_6d_pose_goal_ |
| plan to a 6D pose goal (if false, plans to 3D goal {x,y,z}) | |
| bool | use_dijkstra_heuristic_ |
| use a 3D dijkstra search as the heuristic | |
| bool | use_ik_ |
| use IK to try to satisfy the orientation constraint | |
| bool | use_multires_mprims_ |
| enable multi-resolution motion primitives | |
| bool | use_orientation_solver_ |
| use the orientation solver to try to satisfy orientation constraint | |
| bool | use_research_heuristic_ |
| bool | use_smoothing_ |
| enable path smoothing during search | |
| bool | use_uniform_cost_ |
| uniform cost when moving from one cell to another (if false, a cost will be applied based on distance from nearest obstacle) | |
| bool | verbose_ |
| spew out all debugging text | |
| bool | verbose_collisions_ |
| spew out all collision checking related debugging text | |
| bool | verbose_heuristics_ |
| spew out all heuristic related debugging text | |
Definition at line 46 of file sbpl_arm_planner_params.h.
| SBPLArmPlannerParams::SBPLArmPlannerParams | ( | ) |
default constructor (just assigns default values)
Definition at line 33 of file sbpl_arm_planner_params.cpp.
| SBPLArmPlannerParams::~SBPLArmPlannerParams | ( | ) | [inline] |
destructor
Definition at line 55 of file sbpl_arm_planner_params.h.
| void SBPLArmPlannerParams::addMotionPrim | ( | std::vector< double > | mprim, | |
| bool | add_converse, | |||
| bool | short_dist_mprim | |||
| ) |
add a motion primitive vector to the list
Definition at line 412 of file sbpl_arm_planner_params.cpp.
| double SBPLArmPlannerParams::getLargestMotionPrimOffset | ( | ) |
NOTE: For computing cost for IK and OS solutions.
Definition at line 560 of file sbpl_arm_planner_params.cpp.
| double SBPLArmPlannerParams::getSmallestShoulderPanMotion | ( | ) |
Definition at line 545 of file sbpl_arm_planner_params.cpp.
| bool SBPLArmPlannerParams::initFromParamFile | ( | FILE * | fCfg | ) |
grab parameters from a text file
Definition at line 199 of file sbpl_arm_planner_params.cpp.
| bool SBPLArmPlannerParams::initFromParamFile | ( | std::string | param_file | ) |
grab parameters from a text file
Definition at line 102 of file sbpl_arm_planner_params.cpp.
| void SBPLArmPlannerParams::initFromParamServer | ( | ) |
grab parameters from the ROS param server
Definition at line 72 of file sbpl_arm_planner_params.cpp.
| bool SBPLArmPlannerParams::initFromResource | ( | std::string | url | ) |
use a resource retriever to grab params from a file
| bool SBPLArmPlannerParams::initMotionPrimsFromFile | ( | FILE * | fCfg | ) |
grab motion primitives from a text file
Definition at line 125 of file sbpl_arm_planner_params.cpp.
| void SBPLArmPlannerParams::precomputeSmoothingCosts | ( | ) |
precompute the smoothing cost from each mprim to every other mprim
Definition at line 499 of file sbpl_arm_planner_params.cpp.
| void SBPLArmPlannerParams::printMotionPrims | ( | FILE * | fOut | ) |
print the motion primitives
Definition at line 459 of file sbpl_arm_planner_params.cpp.
| void SBPLArmPlannerParams::printParams | ( | FILE * | fOut | ) |
print out the parameters
Definition at line 481 of file sbpl_arm_planner_params.cpp.
| void SBPLArmPlannerParams::printSmoothingCosts | ( | FILE * | fOut | ) |
print the smoothing cost table
Definition at line 520 of file sbpl_arm_planner_params.cpp.
| void SBPLArmPlannerParams::setCellCost | ( | int | cost_per_cell | ) |
set the cost per cell
Definition at line 405 of file sbpl_arm_planner_params.cpp.
discretization of joint angles (default: 360)
Definition at line 135 of file sbpl_arm_planner_params.h.
cost multiplier (so we don't have to deal with doubles)
Definition at line 164 of file sbpl_arm_planner_params.h.
cost of moving one cell in the grid
Definition at line 171 of file sbpl_arm_planner_params.h.
cost of moving one meter (only used when euclidean distance is used as the heuristic instead of dijkstra)
Definition at line 175 of file sbpl_arm_planner_params.h.
epsilon to be used by planner (epsilon is the bounds on the suboptimality of the solution of a weighted A* type search)
Definition at line 98 of file sbpl_arm_planner_params.h.
set which function to use to check if at goal position
Definition at line 178 of file sbpl_arm_planner_params.h.
Definition at line 184 of file sbpl_arm_planner_params.h.
| std::vector<std::vector<double> > SBPLArmPlannerParams::mprims_ |
the 2D array of motion primitives
Definition at line 138 of file sbpl_arm_planner_params.h.
number of long distance motion primitives
Definition at line 144 of file sbpl_arm_planner_params.h.
total number of motion primitives
Definition at line 141 of file sbpl_arm_planner_params.h.
number of short distance motion primitives
Definition at line 147 of file sbpl_arm_planner_params.h.
origin of collision space
Definition at line 195 of file sbpl_arm_planner_params.h.
Definition at line 196 of file sbpl_arm_planner_params.h.
Definition at line 197 of file sbpl_arm_planner_params.h.
| std::string SBPLArmPlannerParams::planner_name_ |
Definition at line 157 of file sbpl_arm_planner_params.h.
Definition at line 166 of file sbpl_arm_planner_params.h.
Definition at line 167 of file sbpl_arm_planner_params.h.
Definition at line 168 of file sbpl_arm_planner_params.h.
resolution of collision space
Definition at line 192 of file sbpl_arm_planner_params.h.
distance from goal pose in cells to switch to using short distance motion primitives + long distance motion primitives
Definition at line 151 of file sbpl_arm_planner_params.h.
distance from goal pose in meters to switch to using short distance motion primitives + long distance motion primitives
Definition at line 155 of file sbpl_arm_planner_params.h.
| double SBPLArmPlannerParams::sizeX_ |
size of collision space
Definition at line 187 of file sbpl_arm_planner_params.h.
| double SBPLArmPlannerParams::sizeY_ |
Definition at line 188 of file sbpl_arm_planner_params.h.
| double SBPLArmPlannerParams::sizeZ_ |
Definition at line 189 of file sbpl_arm_planner_params.h.
| std::vector<std::vector<int> > SBPLArmPlannerParams::smoothing_cost_ |
cost of transitioning from mprim to mprim, this provides the smoothing factor
Definition at line 161 of file sbpl_arm_planner_params.h.
Definition at line 199 of file sbpl_arm_planner_params.h.
Definition at line 200 of file sbpl_arm_planner_params.h.
add the h_rpy & h_xyz together
Definition at line 119 of file sbpl_arm_planner_params.h.
Definition at line 180 of file sbpl_arm_planner_params.h.
plan to a 6D pose goal (if false, plans to 3D goal {x,y,z})
Definition at line 116 of file sbpl_arm_planner_params.h.
use a 3D dijkstra search as the heuristic
Definition at line 104 of file sbpl_arm_planner_params.h.
use IK to try to satisfy the orientation constraint
Definition at line 110 of file sbpl_arm_planner_params.h.
enable multi-resolution motion primitives
Definition at line 101 of file sbpl_arm_planner_params.h.
use the orientation solver to try to satisfy orientation constraint
Definition at line 107 of file sbpl_arm_planner_params.h.
Definition at line 182 of file sbpl_arm_planner_params.h.
enable path smoothing during search
Definition at line 113 of file sbpl_arm_planner_params.h.
uniform cost when moving from one cell to another (if false, a cost will be applied based on distance from nearest obstacle)
Definition at line 123 of file sbpl_arm_planner_params.h.
spew out all debugging text
Definition at line 126 of file sbpl_arm_planner_params.h.
spew out all collision checking related debugging text
Definition at line 132 of file sbpl_arm_planner_params.h.
spew out all heuristic related debugging text
Definition at line 129 of file sbpl_arm_planner_params.h.
