planar kinematic robot arm of variable number of degrees of freedom More...
#include <environment_robarm.h>
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 |
planar kinematic robot arm of variable number of degrees of freedom
Definition at line 119 of file environment_robarm.h.
| EnvironmentROBARM::~EnvironmentROBARM | ( | ) | [inline] |
Definition at line 165 of file environment_robarm.h.
| 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.
Definition at line 174 of file environment_robarm.h.
Definition at line 173 of file environment_robarm.h.
