EnvIntervalLattice Class Reference

#include <envInterval.h>

Inheritance diagram for EnvIntervalLattice:

Public Member Functions
	EnvIntervalLattice ()
	The constructor. One of the 3 initialize functions should be called after this.
const envIntervalLatConfig_t *	GetEnvNavConfig ()
virtual int	GetEnvParameter (const char *parameter)
	Get the value of parameters such as cost_inscribed_thresh and cost_possibly_circumscribed_thresh.
void	GetEnvParms (int size_x, int size_y, double startx, double starty, double starttheta, double startTime, double goalx, double goaly, double goaltheta, double cellsize_m, double timeResolution, double temporal_padding_, double nominalvel_mpersecs, double timetoturn45degsinplace_secs, unsigned char obsthresh, unsigned char dyn_obs_thresh, vector< SBPL_xythetainterval_mprimitive > *motionprimitiveV)
	Get the value of parameters.
virtual int	GetFromToHeuristic (int FromStateID, int ToStateID)=0
virtual int	GetGoalHeuristic (int stateID)=0
int	getGoalID ()
	Gets the state ID of the goal state. This can be given to the planner when setting the planner goal state.
unsigned char	GetMapCost (int x, int y)
	Returns the value of the cell.
virtual int	GetStartHeuristic (int stateID)=0
int	getStartID ()
	Gets the state ID of the start state. This can be given to the planner when setting the planner start state.
bool	InitializeEnv (int width, int height, const unsigned char mapdata, double startx, double starty, double starttheta, double startTime, double goalx, double goaly, double goaltheta, double goaltol_x, double goaltol_y, double goaltol_theta, const vector< sbpl_2Dpt_t > &perimeterptsV, double cellsize_m, double timeResolution, double temporal_padding_c, double nominalvel_mpersecs, double timetoturn45degsinplace_secs, unsigned char obsthresh, unsigned char dynobsthresh, const char sMotPrimFile, vector< SBPL_DynamicObstacle_t > &dynObs)
	An initialize function if you only have the motion primitive file. This is the initialize function generally used with a real simulator or robot.
bool	InitializeEnv (const char sEnvFile, const vector< sbpl_2Dpt_t > &perimeterptsV, const char sMotPrimFile)
	An initialize function if you have the costmap and motion primitive file, but would rather provide dynamic obstacle information using the setDynamicObstacles function.
bool	InitializeEnv (const char sEnvFile, const vector< sbpl_2Dpt_t > &perimeterptsV, const char sMotPrimFile, const char *sDynObsFile)
	An initialize function if you have the costmap, motion primitive, and dynamic obstacles all in the proper text file formats.
bool	IsObstacle (int x, int y)
	Returns if the cell is an obstacle.
bool	IsValidConfiguration (int X, int Y, int Theta)
	Returns if the configuration is collision free on the static costmap.
bool	IsWithinMapCell (int X, int Y)
	Returns if the coordinate is on the map.
bool	PoseContToDisc (double px, double py, double pth, double pt, int &ix, int &iy, int &ith, int &it) const
bool	PoseDiscToCont (int ix, int iy, int ith, int it, double &px, double &py, double &pth, double &pt) const
void	PrintEnv_Config (FILE *fOut)
void	PrintTimeStat (FILE *fOut)
virtual void	PrintVars ()
virtual bool	SetEnvParameter (const char *parameter, int value)
	Allows the setting of a few other parameters such as cost_inscribed_thresh and cost_possibly_circumscribed_thresh.
bool	UpdateCost (int x, int y, unsigned char newcost)
	Changes the cost of a cell in the map. This can be used to update the costmap from sensor updates between replans.
	~EnvIntervalLattice ()
	Destructor.
Protected Member Functions
void	CalculateFootprintForPose (SBPL_4Dpt_t pose, vector< SBPL_4Dcell_t > *footprint)
bool	CheckQuant (FILE *fOut)
void	ComputeHeuristicValues ()
void	ComputeReplanningData ()
void	ComputeReplanningDataforAction (envIntervalLatAction_t *action)
void	CreateStartandGoalStates ()
double	EuclideanDistance_m (int X1, int Y1, int X2, int Y2)
void	FillInBubble (int CenterX, int CenterY, int T, int rad)
void	FillInBubbleCell (int x, int y, int T)
void	FillInBubbleColumn (int x, int topY, int botY, int T)
virtual int	GetActionCost (int SourceX, int SourceY, int SourceTheta, envIntervalLatAction_t *action)
int	getArrivalTimeToInterval (envIntervalLatHashEntry_t state, envIntervalLatAction_t action, int start_t, int end_t)
virtual envIntervalLatHashEntry_t *	getEntryFromID (int id)=0
int	getInterval (int x, int y, int t)
void	getIntervals (vector< int > intervals, vector< int > times, envIntervalLatHashEntry_t state, envIntervalLatAction_t action)
virtual void	GetPreds (int TargetStateID, vector< int > PredIDV, vector< int > CostV)=0
virtual void	GetPredsofChangedEdges (vector< nav2dcell_t > const changedcellsV, vector< int > preds_of_changededgesIDV)=0
virtual void	GetSuccs (int SourceStateID, vector< int > SuccIDV, vector< int > CostV, vector< bool > OptV, bool optSearch, vector< envIntervalLatAction_t > *actionV=NULL)=0
virtual void	GetSuccs (int SourceStateID, vector< int > SuccIDV, vector< int > CostV, vector< bool > *OptV, bool optSearch)
virtual void	GetSuccsofChangedEdges (vector< nav2dcell_t > const changedcellsV, vector< int > succs_of_changededgesIDV)=0
bool	InitGeneral (vector< SBPL_xythetainterval_mprimitive > *motionprimitiveV)
bool	InitializeEnv (int width, int height, const unsigned char mapdata, double startx, double starty, double starttheta, double startTime, double goalx, double goaly, double goaltheta, double goaltol_x, double goaltol_y, double goaltol_theta, const vector< sbpl_2Dpt_t > &perimeterptsV, double cellsize_m, double timeResolution, double temporal_padding_c, double nominalvel_mpersecs, double timetoturn45degsinplace_secs, unsigned char obsthresh, unsigned char dynobsthresh, const char sMotPrimFile)
bool	InitializeEnv (const char *sEnvFile)
void	InitializeEnvConfig (vector< SBPL_xythetainterval_mprimitive > *motionprimitiveV)
virtual void	InitializeEnvironment ()=0
bool	InitializeMDPCfg (MDPConfig *MDPCfg)
void	InitializeTimelineMap ()
void	intervals2Timeline (int x, int y)
bool	IsValidCell (int X, int Y)
void	PrecomputeActions ()
void	PrecomputeActionswithBaseMotionPrimitive (vector< SBPL_xythetainterval_mprimitive > *motionprimitiveV)
void	PrecomputeActionswithCompleteMotionPrimitive (vector< SBPL_xythetainterval_mprimitive > *motionprimitiveV)
void	PrintHeuristicValues ()
virtual void	ReadConfiguration (FILE *fCfg)
void	ReadDynamicObstacles (FILE *fDynObs)
int	ReadinCell (SBPL_4Dcell_t cell, char fIn)
bool	ReadinMotionPrimitive (SBPL_xythetainterval_mprimitive pMotPrim, FILE fIn, bool &isWaitMotion)
int	ReadinPose (SBPL_4Dpt_t pose, char fIn)
bool	ReadMotionPrimitives (FILE *fMotPrims)
void	RemoveSourceFootprint (SBPL_4Dpt_t sourcepose, vector< SBPL_4Dcell_t > *footprint)
virtual void	SetAllActionsandAllOutcomes (CMDPSTATE *state)=0
virtual void	SetAllPreds (CMDPSTATE *state)
void	SetConfiguration (int width, int height, const unsigned char *mapdata, int startx, int starty, int starttheta, int startTime, int goalx, int goaly, int goaltheta, double cellsize_m, double timeResolution, double nominalvel_mpersecs, double timetoturn45degsinplace_secs, const vector< sbpl_2Dpt_t > &robot_perimeterV)
bool	UpdateTimelineMap ()
Static Protected Member Functions
static bool	pairCompare (pair< int, int > i, pair< int, int > j)
Protected Attributes
vector< SBPL_4Dcell_t >	affectedpredstatesV
vector< SBPL_4Dcell_t >	affectedsuccstatesV
bool	bNeedtoRecomputeGoalHeuristics
bool	bNeedtoRecomputeStartHeuristics
vector< SBPL_DynamicObstacle_t >	dynamicObstacles
EnvIntervalLat_t	envIntervalLat
envIntervalLatConfig_t	envIntervalLatCfg
SBPL2DGridSearch *	grid2Dsearchfromgoal
SBPL2DGridSearch *	grid2Dsearchfromstart
vector< vector< vector< pair < int, int > > > >	intervalMap
int	iteration
int	temporal_padding
vector< vector< vector< int > > >	timelineMap

Detailed Description

Definition at line 179 of file envInterval.h.

Constructor & Destructor Documentation

EnvIntervalLattice::EnvIntervalLattice ( )

The constructor. One of the 3 initialize functions should be called after this.

Definition at line 49 of file envInterval.cpp.

EnvIntervalLattice::~EnvIntervalLattice ( )

Destructor.

Definition at line 68 of file envInterval.cpp.

Member Function Documentation

void EnvIntervalLattice::CalculateFootprintForPose	(	SBPL_4Dpt_t	pose,
		vector< SBPL_4Dcell_t > *	footprint
	)			`[protected]`

Definition at line 2092 of file envInterval.cpp.

bool EnvIntervalLattice::CheckQuant ( FILE * fOut ) [protected]

Definition at line 2261 of file envInterval.cpp.

void EnvIntervalLattice::ComputeHeuristicValues ( ) [protected]

Definition at line 2247 of file envInterval.cpp.

void EnvIntervalLattice::ComputeReplanningData ( ) [protected]

Definition at line 1421 of file envInterval.cpp.

void EnvIntervalLattice::ComputeReplanningDataforAction ( envIntervalLatAction_t * action ) [protected]

Definition at line 1312 of file envInterval.cpp.

void EnvIntervalLattice::CreateStartandGoalStates ( ) [protected]

double EnvIntervalLattice::EuclideanDistance_m	(	int	X1,
		int	Y1,
		int	X2,
		int	Y2
	)			`[protected]`

Definition at line 2083 of file envInterval.cpp.

void EnvIntervalLattice::FillInBubble	(	int	CenterX,
		int	CenterY,
		int	T,
		int	rad
	)			`[protected]`

Definition at line 442 of file envInterval.cpp.

void EnvIntervalLattice::FillInBubbleCell	(	int	x,
		int	y,
		int	T
	)			`[protected]`

Definition at line 501 of file envInterval.cpp.

void EnvIntervalLattice::FillInBubbleColumn	(	int	x,
		int	topY,
		int	botY,
		int	T
	)			`[protected]`

Definition at line 465 of file envInterval.cpp.

int EnvIntervalLattice::GetActionCost	(	int	SourceX,
		int	SourceY,
		int	SourceTheta,
		envIntervalLatAction_t *	action
	)			`[protected, virtual]`

Definition at line 1999 of file envInterval.cpp.

int EnvIntervalLattice::getArrivalTimeToInterval	(	envIntervalLatHashEntry_t *	state,
		envIntervalLatAction_t *	action,
		int	start_t,
		int	end_t
	)			`[protected]`

Definition at line 589 of file envInterval.cpp.

virtual envIntervalLatHashEntry_t* EnvIntervalLattice::getEntryFromID ( int id ) [protected, pure virtual]

Implemented in EnvIntervalLat.

const envIntervalLatConfig_t * EnvIntervalLattice::GetEnvNavConfig ( )

Definition at line 2610 of file envInterval.cpp.

int EnvIntervalLattice::GetEnvParameter ( const char * parameter ) [virtual]

Get the value of parameters such as cost_inscribed_thresh and cost_possibly_circumscribed_thresh.

Parameters:

parameter

The name of the parameter

Returns:: The value of the parameter

Definition at line 2788 of file envInterval.cpp.

void EnvIntervalLattice::GetEnvParms	(	int *	size_x,
		int *	size_y,
		double *	startx,
		double *	starty,
		double *	starttheta,
		double *	startTime,
		double *	goalx,
		double *	goaly,
		double *	goaltheta,
		double *	cellsize_m,
		double *	timeResolution,
		double *	temporal_padding_,
		double *	nominalvel_mpersecs,
		double *	timetoturn45degsinplace_secs,
		unsigned char *	obsthresh,
		unsigned char *	dyn_obs_thresh,
		vector< SBPL_xythetainterval_mprimitive > *	motionprimitiveV
	)

Get the value of parameters.

Definition at line 2674 of file envInterval.cpp.

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

Implemented in EnvIntervalLat.

virtual int EnvIntervalLattice::GetGoalHeuristic ( int stateID ) [pure virtual]

Implemented in EnvIntervalLat.

int EnvIntervalLattice::getGoalID ( )

Gets the state ID of the goal state. This can be given to the planner when setting the planner goal state.

Returns:: goal state ID

Definition at line 2670 of file envInterval.cpp.

int EnvIntervalLattice::getInterval	(	int	x,
		int	y,
		int	t
	)			`[protected]`

Definition at line 523 of file envInterval.cpp.

void EnvIntervalLattice::getIntervals	(	vector< int > *	intervals,
		vector< int > *	times,
		envIntervalLatHashEntry_t *	state,
		envIntervalLatAction_t *	action
	)			`[protected]`

Definition at line 530 of file envInterval.cpp.

unsigned char EnvIntervalLattice::GetMapCost	(	int	x,
		int	y
	)			`[virtual]`

Returns the value of the cell.

Parameters:

	x	The x coordinate of the cell
	y	The y coordinate of the cell

Returns:: The value of the cell

Implements DiscreteSpaceTimeIntervalInformation.

Definition at line 2725 of file envInterval.cpp.

virtual void EnvIntervalLattice::GetPreds	(	int	TargetStateID,
		vector< int > *	PredIDV,
		vector< int > *	CostV
	)			`[protected, pure virtual]`

Implemented in EnvIntervalLat.

virtual void EnvIntervalLattice::GetPredsofChangedEdges	(	vector< nav2dcell_t > const *	changedcellsV,
		vector< int > *	preds_of_changededgesIDV
	)			`[protected, pure virtual]`

Implemented in EnvIntervalLat.

virtual int EnvIntervalLattice::GetStartHeuristic ( int stateID ) [pure virtual]

Implemented in EnvIntervalLat.

int EnvIntervalLattice::getStartID ( )

Gets the state ID of the start state. This can be given to the planner when setting the planner start state.

Returns:: start state ID

Definition at line 2666 of file envInterval.cpp.

virtual void EnvIntervalLattice::GetSuccs	(	int	SourceStateID,
		vector< int > *	SuccIDV,
		vector< int > *	CostV,
		vector< bool > *	OptV,
		bool	optSearch,
		vector< envIntervalLatAction_t * > *	actionV = `NULL`
	)			`[protected, pure virtual]`

Implemented in EnvIntervalLat.

void EnvIntervalLattice::GetSuccs	(	int	SourceStateID,
		vector< int > *	SuccIDV,
		vector< int > *	CostV,
		vector< bool > *	OptV,
		bool	optSearch
	)			`[protected, virtual]`

Implements DiscreteSpaceTimeIntervalInformation.

Definition at line 2603 of file envInterval.cpp.

virtual void EnvIntervalLattice::GetSuccsofChangedEdges	(	vector< nav2dcell_t > const *	changedcellsV,
		vector< int > *	succs_of_changededgesIDV
	)			`[protected, pure virtual]`

Implemented in EnvIntervalLat.

bool EnvIntervalLattice::InitGeneral ( vector< SBPL_xythetainterval_mprimitive > * motionprimitiveV ) [protected]

Definition at line 2533 of file envInterval.cpp.

bool EnvIntervalLattice::InitializeEnv	(	int	width,
		int	height,
		const unsigned char *	mapdata,
		double	startx,
		double	starty,
		double	starttheta,
		double	startTime,
		double	goalx,
		double	goaly,
		double	goaltheta,
		double	goaltol_x,
		double	goaltol_y,
		double	goaltol_theta,
		const vector< sbpl_2Dpt_t > &	perimeterptsV,
		double	cellsize_m,
		double	timeResolution,
		double	temporal_padding_c,
		double	nominalvel_mpersecs,
		double	timetoturn45degsinplace_secs,
		unsigned char	obsthresh,
		unsigned char	dynobsthresh,
		const char *	sMotPrimFile
	)			`[protected]`

Definition at line 2469 of file envInterval.cpp.

bool EnvIntervalLattice::InitializeEnv ( const char * sEnvFile ) [protected]

Definition at line 2353 of file envInterval.cpp.

bool EnvIntervalLattice::InitializeEnv	(	int	width,
		int	height,
		const unsigned char *	mapdata,
		double	startx,
		double	starty,
		double	starttheta,
		double	startTime,
		double	goalx,
		double	goaly,
		double	goaltheta,
		double	goaltol_x,
		double	goaltol_y,
		double	goaltol_theta,
		const vector< sbpl_2Dpt_t > &	perimeterptsV,
		double	cellsize_m,
		double	timeResolution,
		double	temporal_padding_c,
		double	nominalvel_mpersecs,
		double	timetoturn45degsinplace_secs,
		unsigned char	obsthresh,
		unsigned char	dynobsthresh,
		const char *	sMotPrimFile,
		vector< SBPL_DynamicObstacle_t > &	dynObs
	)			`[virtual]`

An initialize function if you only have the motion primitive file. This is the initialize function generally used with a real simulator or robot.

Parameters:

	width	Number of map cells along the x-axis
	height	Number of map cells along the y-axis
	mapdata	The initial costmap. If this is null, it is initialized to all freespace.
	startx	The initial start x in meters (this can be updated after init)
	starty	The initial start y in meters (this can be updated after init)
	starttheta	The initial start theta in radians (this can be updated after init)
	starttime	The initial start time in seconds (this can be updated after init)
	goalx	The initial goal x in meters (this can be updated after init)
	goaly	The initial goal y in meters (this can be updated after init)
	goaltheta	The initial goal theta in radians (this can be updated after init)
	goaltol_x	Goal x tolerance (not currently used)
	goaltol_y	Goal y tolerance (not currently used)
	goaltol_theta	Goal theta tolerance (not currently used)
	perimeterptsV	A vector containing the (x,y) points in meters of the polygonal footprint assuming the robot was centered at (0,0). Leave empty to assume a circular robot (where the costmap is assumed to be inflated by the robot radius).
	cellsize_m	The cell size in meters
	timeResolution	The time resolution in seconds (used when doing collision checking against dynamic obstacles)
	temporal_padding_c	The minimum amount of time between when an obstacle occupies a cell and when the robot can occupy that same cell (in seconds). This should be at least one timestep.
	nominalvel_mpersecs	The linear velocity of the robot (meters per second)
	timetoturn45degsinplace_secs	The amount of time it takes the robot to turn 45 degrees (seconds)
	obsthresh	The threshold value for obstacles. Costmap values greater or equal to this will be considered obstacles.
	dynobsthresh	A dynamic obstacle collision threshold (not used right now)
	sMotPrimFile	The path to the motion primitive file
	dynObs	A vector of the dynamic obstacles and their trajectories. (this can be updated after init)

Returns:: True if initialization was successful

Parameters:

mapdata

if mapdata is NULL the grid is initialized to all freespace

Implements DiscreteSpaceTimeIntervalInformation.

Definition at line 2371 of file envInterval.cpp.

bool EnvIntervalLattice::InitializeEnv	(	const char *	sEnvFile,
		const vector< sbpl_2Dpt_t > &	perimeterptsV,
		const char *	sMotPrimFile
	)

An initialize function if you have the costmap and motion primitive file, but would rather provide dynamic obstacle information using the setDynamicObstacles function.

Parameters:

	sEnvFile	The path to the costmap file
	perimeterptsV	A vector containing the (x,y) points of the polygonal footprint assuming the robot was centered at (0,0). Leave empty to assume a circular robot (where the costmap is assumed to be inflated by the robot radius).
	sMotPrimFile	The path to the motion primitive file

Returns:: True if initialization was successful

Definition at line 2302 of file envInterval.cpp.

bool EnvIntervalLattice::InitializeEnv	(	const char *	sEnvFile,
		const vector< sbpl_2Dpt_t > &	perimeterptsV,
		const char *	sMotPrimFile,
		const char *	sDynObsFile
	)

An initialize function if you have the costmap, motion primitive, and dynamic obstacles all in the proper text file formats.

Parameters:

	sEnvFile	The path to the costmap file
	perimeterptsV	A vector containing the (x,y) points of the polygonal footprint assuming the robot was centered at (0,0). Leave empty to assume a circular robot (where the costmap is assumed to be inflated by the robot radius).
	sMotPrimFile	The path to the motion primitive file
	sDynObsFile	The path to the dynamic obstacle file

Returns:: True if initialization was successful

Definition at line 2287 of file envInterval.cpp.

void EnvIntervalLattice::InitializeEnvConfig ( vector< SBPL_xythetainterval_mprimitive > * motionprimitiveV ) [protected]

Definition at line 1902 of file envInterval.cpp.

virtual void EnvIntervalLattice::InitializeEnvironment ( ) [protected, pure virtual]

Implemented in EnvIntervalLat.

bool EnvIntervalLattice::InitializeMDPCfg ( MDPConfig * MDPCfg ) [protected]

Definition at line 2548 of file envInterval.cpp.

void EnvIntervalLattice::InitializeTimelineMap ( ) [protected]

Definition at line 358 of file envInterval.cpp.

void EnvIntervalLattice::intervals2Timeline	(	int	x,
		int	y
	)			`[protected]`

Definition at line 507 of file envInterval.cpp.

bool EnvIntervalLattice::IsObstacle	(	int	x,
		int	y
	)

Returns if the cell is an obstacle.

Parameters:

	x	The x coordinate of the cell
	y	The y coordinate of the cell

Returns:: True if the cell is an obstacle

Definition at line 2654 of file envInterval.cpp.

bool EnvIntervalLattice::IsValidCell	(	int	X,
		int	Y
	)			`[protected]`

Definition at line 1955 of file envInterval.cpp.

bool EnvIntervalLattice::IsValidConfiguration	(	int	X,
		int	Y,
		int	Theta
	)

Returns if the configuration is collision free on the static costmap.

Parameters:

	X	The x coordinate of the center of the robot
	Y	The y coordinate of the center of the robot
	Theta	The orientation of the robot

Returns:: True if the pose is safe

Definition at line 1968 of file envInterval.cpp.

bool EnvIntervalLattice::IsWithinMapCell	(	int	X,
		int	Y
	)

Returns if the coordinate is on the map.

Parameters:

	X	The x coordinate
	Y	The y coordinate

Returns:: True if the coordinate is on the map

Definition at line 1962 of file envInterval.cpp.

static bool EnvIntervalLattice::pairCompare	(	pair< int, int >	i,
		pair< int, int >	j
	)			`[inline, static, protected]`

Definition at line 358 of file envInterval.h.

bool EnvIntervalLattice::PoseContToDisc	(	double	px,
		double	py,
		double	pth,
		double	pt,
		int &	ix,
		int &	iy,
		int &	ith,
		int &	it
	)			const

Definition at line 2701 of file envInterval.cpp.

bool EnvIntervalLattice::PoseDiscToCont	(	int	ix,
		int	iy,
		int	ith,
		int	it,
		double &	px,
		double &	py,
		double &	pth,
		double &	pt
	)			const

Definition at line 2713 of file envInterval.cpp.

void EnvIntervalLattice::PrecomputeActions ( ) [protected]

Definition at line 1727 of file envInterval.cpp.

void EnvIntervalLattice::PrecomputeActionswithBaseMotionPrimitive ( vector< SBPL_xythetainterval_mprimitive > * motionprimitiveV ) [protected]

Definition at line 1438 of file envInterval.cpp.

void EnvIntervalLattice::PrecomputeActionswithCompleteMotionPrimitive ( vector< SBPL_xythetainterval_mprimitive > * motionprimitiveV ) [protected]

Definition at line 1574 of file envInterval.cpp.

void EnvIntervalLattice::PrintEnv_Config ( FILE * fOut )

Definition at line 2632 of file envInterval.cpp.

void EnvIntervalLattice::PrintHeuristicValues ( ) [protected]

Definition at line 2558 of file envInterval.cpp.

void EnvIntervalLattice::PrintTimeStat ( FILE * fOut )

Definition at line 2642 of file envInterval.cpp.

virtual void EnvIntervalLattice::PrintVars ( ) [inline, virtual]

Reimplemented in EnvIntervalLat.

Definition at line 341 of file envInterval.h.

void EnvIntervalLattice::ReadConfiguration ( FILE * fCfg ) [protected, virtual]

Definition at line 688 of file envInterval.cpp.

void EnvIntervalLattice::ReadDynamicObstacles ( FILE * fDynObs ) [protected]

Definition at line 117 of file envInterval.cpp.

int EnvIntervalLattice::ReadinCell	(	SBPL_4Dcell_t *	cell,
		char *	fIn
	)			`[protected]`

Definition at line 1010 of file envInterval.cpp.

bool EnvIntervalLattice::ReadinMotionPrimitive	(	SBPL_xythetainterval_mprimitive *	pMotPrim,
		FILE *	fIn,
		bool &	isWaitMotion
	)			`[protected]`

Definition at line 1065 of file envInterval.cpp.

int EnvIntervalLattice::ReadinPose	(	SBPL_4Dpt_t *	pose,
		char *	fIn
	)			`[protected]`

Definition at line 1038 of file envInterval.cpp.

bool EnvIntervalLattice::ReadMotionPrimitives ( FILE * fMotPrims ) [protected]

Definition at line 1216 of file envInterval.cpp.

void EnvIntervalLattice::RemoveSourceFootprint	(	SBPL_4Dpt_t	sourcepose,
		vector< SBPL_4Dcell_t > *	footprint
	)			`[protected]`

Definition at line 2218 of file envInterval.cpp.

virtual void EnvIntervalLattice::SetAllActionsandAllOutcomes ( CMDPSTATE * state ) [protected, pure virtual]

Implemented in EnvIntervalLat.

void EnvIntervalLattice::SetAllPreds ( CMDPSTATE * state ) [protected, virtual]

Definition at line 2594 of file envInterval.cpp.

void EnvIntervalLattice::SetConfiguration	(	int	width,
		int	height,
		const unsigned char *	mapdata,
		int	startx,
		int	starty,
		int	starttheta,
		int	startTime,
		int	goalx,
		int	goaly,
		int	goaltheta,
		double	cellsize_m,
		double	timeResolution,
		double	nominalvel_mpersecs,
		double	timetoturn45degsinplace_secs,
		const vector< sbpl_2Dpt_t > &	robot_perimeterV
	)			`[protected]`