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EnvironmentNAVXYTHETACARTLAT Class Reference

#include <environment_cart_planner.h>

Inheritance diagram for EnvironmentNAVXYTHETACARTLAT:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool ConvertStateIDPathintoXYThetaPath (vector< int > *stateIDPath, vector< EnvNAVXYTHETACARTLAT3Dpt_t > *xythetaPath)
 converts a path given by stateIDs into a sequence of coordinates. Note that since motion primitives are short actions represented as a sequence of points, the path returned by this function contains much more points than the number of points in the input path. The returned coordinates are in meters,meters,radians
 EnvironmentNAVXYTHETACARTLAT ()
void GetCoordFromState (int stateID, int &x, int &y, int &theta, int &cartangle) const
 returns state coordinates of state with ID=stateID
virtual int GetFromToHeuristic (int FromStateID, int ToStateID)
 see comments on the same function in the parent class
virtual int GetGoalHeuristic (int stateID)
 see comments on the same function in the parent class
virtual void GetPreds (int TargetStateID, vector< int > *PredIDV, vector< int > *CostV)
 returns all predecessors states and corresponding costs of actions
void GetPredsofChangedEdges (vector< nav2dcell_t > const *changedcellsV, vector< int > *preds_of_changededgesIDV)
 this function fill in Predecessor/Successor states of edges whose costs changed It takes in an array of cells whose traversability changed, and returns (in vector preds_of_changededgesIDV) the IDs of all states that have outgoing edges that go through the changed cells
virtual int GetStartHeuristic (int stateID)
 see comments on the same function in the parent class
int GetStateFromCoord (int x, int y, int theta, int cartangle)
 returns stateID for a state with coords x,y,theta
virtual void GetSuccs (int SourceStateID, vector< int > *SuccIDV, vector< int > *CostV, vector< EnvNAVXYTHETACARTLATAction_t * > *actionindV=NULL)
 returns all successors states, costs of corresponding actions and pointers to corresponding actions, each of which is a motion primitive if actionindV is NULL, then pointers to actions are not returned
void GetSuccsofChangedEdges (vector< nav2dcell_t > const *changedcellsV, vector< int > *succs_of_changededgesIDV)
 same as GetPredsofChangedEdges, but returns successor states. Both functions need to be present for incremental search
void PrintState (int stateID, bool bVerbose, FILE *fOut=NULL)
 prints state info (coordinates) into file
virtual void PrintVars ()
 see comments on the same function in the parent class
virtual void SetAllActionsandAllOutcomes (CMDPSTATE *state)
 see comments on the same function in the parent class
int SetGoal (double x, double y, double theta, double cartangle)
 sets goal in meters/radians
void SetGoalTolerance (double tol_x, double tol_y, double tol_theta, double tol_cartangle)
 sets goal tolerance. (Note goal tolerance is ignored currently)
int SetStart (double x, double y, double theta, double cartangle)
 sets start in meters/radians
virtual int SizeofCreatedEnv ()
 see comments on the same function in the parent class
 ~EnvironmentNAVXYTHETACARTLAT ()

Protected Member Functions

EnvNAVXYTHETACARTLATHashEntry_tCreateNewHashEntry_hash (int X, int Y, int Theta, int CartAngle)
EnvNAVXYTHETACARTLATHashEntry_tCreateNewHashEntry_lookup (int X, int Y, int Theta, int CartAngle)
unsigned int GETHASHBIN (unsigned int X, unsigned int Y, unsigned int Theta, unsigned int CartAngle)
EnvNAVXYTHETACARTLATHashEntry_tGetHashEntry_hash (int X, int Y, int Theta, int CartAngle)
EnvNAVXYTHETACARTLATHashEntry_tGetHashEntry_lookup (int X, int Y, int Theta, int CartAngle)
virtual void InitializeEnvironment ()
void PrintHashTableHist (FILE *fOut)

Protected Attributes

vector
< EnvNAVXYTHETACARTLATHashEntry_t * > * 
Coord2StateIDHashTable
EnvNAVXYTHETACARTLATHashEntry_t ** Coord2StateIDHashTable_lookup
EnvNAVXYTHETACARTLATHashEntry_t
*(EnvironmentNAVXYTHETACARTLAT::* 
CreateNewHashEntry )(int X, int Y, int Theta, int CartAngle)
EnvNAVXYTHETACARTLATHashEntry_t
*(EnvironmentNAVXYTHETACARTLAT::* 
GetHashEntry )(int X, int Y, int Theta, int CartAngle)
int HashTableSize
vector
< EnvNAVXYTHETACARTLATHashEntry_t * > 
StateID2CoordTable

Detailed Description

Definition at line 423 of file environment_cart_planner.h.


Constructor & Destructor Documentation

EnvironmentNAVXYTHETACARTLAT::EnvironmentNAVXYTHETACARTLAT (  )  [inline]

Definition at line 427 of file environment_cart_planner.h.

EnvironmentNAVXYTHETACARTLAT::~EnvironmentNAVXYTHETACARTLAT (  ) 

Definition at line 2419 of file environment_cart_planner.cpp.


Member Function Documentation

bool EnvironmentNAVXYTHETACARTLAT::ConvertStateIDPathintoXYThetaPath ( vector< int > *  stateIDPath,
vector< EnvNAVXYTHETACARTLAT3Dpt_t > *  xythetaPath 
)

converts a path given by stateIDs into a sequence of coordinates. Note that since motion primitives are short actions represented as a sequence of points, the path returned by this function contains much more points than the number of points in the input path. The returned coordinates are in meters,meters,radians

Definition at line 2464 of file environment_cart_planner.cpp.

EnvNAVXYTHETACARTLATHashEntry_t * EnvironmentNAVXYTHETACARTLAT::CreateNewHashEntry_hash ( int  X,
int  Y,
int  Theta,
int  CartAngle 
) [protected]

Definition at line 2791 of file environment_cart_planner.cpp.

EnvNAVXYTHETACARTLATHashEntry_t * EnvironmentNAVXYTHETACARTLAT::CreateNewHashEntry_lookup ( int  X,
int  Y,
int  Theta,
int  CartAngle 
) [protected]

Definition at line 2734 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLAT::GetCoordFromState ( int  stateID,
int &  x,
int &  y,
int &  theta,
int &  cartangle 
) const

returns state coordinates of state with ID=stateID

Definition at line 2446 of file environment_cart_planner.cpp.

int EnvironmentNAVXYTHETACARTLAT::GetFromToHeuristic ( int  FromStateID,
int  ToStateID 
) [virtual]

see comments on the same function in the parent class

Implements EnvironmentNAVXYTHETACARTLATTICE.

Definition at line 3195 of file environment_cart_planner.cpp.

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

see comments on the same function in the parent class

Implements EnvironmentNAVXYTHETACARTLATTICE.

Definition at line 3224 of file environment_cart_planner.cpp.

unsigned int EnvironmentNAVXYTHETACARTLAT::GETHASHBIN ( unsigned int  X,
unsigned int  Y,
unsigned int  Theta,
unsigned int  CartAngle 
) [protected]

Definition at line 3165 of file environment_cart_planner.cpp.

EnvNAVXYTHETACARTLATHashEntry_t * EnvironmentNAVXYTHETACARTLAT::GetHashEntry_hash ( int  X,
int  Y,
int  Theta,
int  CartAngle 
) [protected]

Definition at line 2694 of file environment_cart_planner.cpp.

EnvNAVXYTHETACARTLATHashEntry_t * EnvironmentNAVXYTHETACARTLAT::GetHashEntry_lookup ( int  X,
int  Y,
int  Theta,
int  CartAngle 
) [protected]

Definition at line 2687 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLAT::GetPreds ( int  TargetStateID,
vector< int > *  PredIDV,
vector< int > *  CostV 
) [virtual]

returns all predecessors states and corresponding costs of actions

Implements EnvironmentNAVXYTHETACARTLATTICE.

Definition at line 2907 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLAT::GetPredsofChangedEdges ( vector< nav2dcell_t > const *  changedcellsV,
vector< int > *  preds_of_changededgesIDV 
) [virtual]

this function fill in Predecessor/Successor states of edges whose costs changed It takes in an array of cells whose traversability changed, and returns (in vector preds_of_changededgesIDV) the IDs of all states that have outgoing edges that go through the changed cells

Implements EnvironmentNAVXYTHETACARTLATTICE.

Definition at line 3034 of file environment_cart_planner.cpp.

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

see comments on the same function in the parent class

Implements EnvironmentNAVXYTHETACARTLATTICE.

Definition at line 3248 of file environment_cart_planner.cpp.

int EnvironmentNAVXYTHETACARTLAT::GetStateFromCoord ( int  x,
int  y,
int  theta,
int  cartangle 
)

returns stateID for a state with coords x,y,theta

Definition at line 2454 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLAT::GetSuccs ( int  SourceStateID,
vector< int > *  SuccIDV,
vector< int > *  CostV,
vector< EnvNAVXYTHETACARTLATAction_t * > *  actionindV = NULL 
) [virtual]

returns all successors states, costs of corresponding actions and pointers to corresponding actions, each of which is a motion primitive if actionindV is NULL, then pointers to actions are not returned

Implements EnvironmentNAVXYTHETACARTLATTICE.

Definition at line 2843 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLAT::GetSuccsofChangedEdges ( vector< nav2dcell_t > const *  changedcellsV,
vector< int > *  succs_of_changededgesIDV 
) [virtual]

same as GetPredsofChangedEdges, but returns successor states. Both functions need to be present for incremental search

Implements EnvironmentNAVXYTHETACARTLATTICE.

Definition at line 3067 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLAT::InitializeEnvironment (  )  [protected, virtual]

Implements EnvironmentNAVXYTHETACARTLATTICE.

Definition at line 3104 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLAT::PrintHashTableHist ( FILE *  fOut  )  [protected]

Definition at line 3170 of file environment_cart_planner.cpp.

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

prints state info (coordinates) into file

Implements DiscreteSpaceInformation.

Definition at line 2659 of file environment_cart_planner.cpp.

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

see comments on the same function in the parent class

Reimplemented from EnvironmentNAVXYTHETACARTLATTICE.

Definition at line 495 of file environment_cart_planner.h.

void EnvironmentNAVXYTHETACARTLAT::SetAllActionsandAllOutcomes ( CMDPSTATE state  )  [virtual]

see comments on the same function in the parent class

Implements EnvironmentNAVXYTHETACARTLATTICE.

Definition at line 2966 of file environment_cart_planner.cpp.

int EnvironmentNAVXYTHETACARTLAT::SetGoal ( double  x,
double  y,
double  theta,
double  cartangle 
)

sets goal in meters/radians

Definition at line 2566 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLAT::SetGoalTolerance ( double  tol_x,
double  tol_y,
double  tol_theta,
double  tol_cartangle 
) [inline]

sets goal tolerance. (Note goal tolerance is ignored currently)

< not used yet

Definition at line 444 of file environment_cart_planner.h.

int EnvironmentNAVXYTHETACARTLAT::SetStart ( double  x,
double  y,
double  theta,
double  cartangle 
)

sets start in meters/radians

Definition at line 2615 of file environment_cart_planner.cpp.

int EnvironmentNAVXYTHETACARTLAT::SizeofCreatedEnv (  )  [virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 3274 of file environment_cart_planner.cpp.


Member Data Documentation

Definition at line 501 of file environment_cart_planner.h.

Definition at line 505 of file environment_cart_planner.h.

EnvNAVXYTHETACARTLATHashEntry_t*(EnvironmentNAVXYTHETACARTLAT::* EnvironmentNAVXYTHETACARTLAT::CreateNewHashEntry)(int X, int Y, int Theta, int CartAngle) [protected]

Definition at line 516 of file environment_cart_planner.h.

EnvNAVXYTHETACARTLATHashEntry_t*(EnvironmentNAVXYTHETACARTLAT::* EnvironmentNAVXYTHETACARTLAT::GetHashEntry)(int X, int Y, int Theta, int CartAngle) [protected]

Definition at line 515 of file environment_cart_planner.h.

Definition at line 495 of file environment_cart_planner.h.

Definition at line 503 of file environment_cart_planner.h.


The documentation for this class was generated from the following files:
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sbpl_cart_planner
Author(s): Sachin Chitta
autogenerated on Fri Mar 1 14:53:12 2013