this class is NOT fully yet implemented, please do not use it! More...
#include <environment_nav2Duu.h>
Public Member Functions | |
| EnvironmentNAV2DUU () | |
| 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 stateID, const vector< sbpl_BinaryHiddenVar_t > *updatedhvaluesV, vector< CMDPACTION > *IncomingDetActionV, vector< CMDPACTION > *IncomingStochActionV, vector< sbpl_BinaryHiddenVar_t > *StochActionNonpreferredOutcomeV) |
| not fully implemented yet | |
| void | GetPreds (int TargetStateID, vector< int > *PredIDV, vector< int > *CostV) |
| not fully implemented yet | |
| int | GetStartHeuristic (int stateID) |
| see comments on the same function in the parent class | |
| void | GetSuccs (int SourceStateID, vector< int > *SuccIDV, vector< int > *CostV) |
| not fully implemented yet | |
| bool | InitializeEnv (const char *sEnvFile) |
| see comments on the same function in the parent class | |
| bool | InitializeEnv (int width, int height, const unsigned char *mapdata, const float *uncertaintymapdata, unsigned char obsthresh) |
| initialize environment. Gridworld is defined as matrix A of size width by height. So, internally, it is accessed as A[x][y] with x ranging from 0 to width-1 and and y from 0 to height-1 Each element in A[x][y] is unsigned char. A[x][y] = 0 corresponds to fully traversable and cost is just Euclidean distance The cost of transition between two neighboring cells is EuclideanDistance*(max(A[sourcex][sourcey],A[targetx][targety])+1) If A[x][y] >= obsthresh, then in the above equation it is assumed to be infinite. mapdata is a pointer to the values of A. If it is null, then A is initialized to all zeros. Mapping is: A[x][y] = mapdata[x+y*width] start/goal are given by startx, starty, goalx,goaly. If they are not known yet, just set them to 0. Later setgoal/setstart can be executed finally obsthresh defined obstacle threshold, as mentioned above uncertaintymapdata is set up in the same way as mapdata in terms of the order in terms of the values, uncertaintymapdata specifies probabilities of being obstructed | |
| bool | InitializeMDPCfg (MDPConfig *MDPCfg) |
| see comments on the same function in the parent class | |
| 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 | SetAllActionsandAllOutcomes (CMDPSTATE *state) |
| not fully implemented yet | |
| void | SetAllPreds (CMDPSTATE *state) |
| not fully implemented yet | |
| int | SetGoal (int x, int y) |
| set goal location | |
| int | SetStart (int x, int y) |
| set start location | |
| int | SizeofCreatedEnv () |
| not fully implemented yet | |
| int | SizeofH () |
| not fully implemented yet | |
| bool | UpdateCost (int x, int y, unsigned char newcost) |
| update the traversability of a cell<x,y> | |
| ~EnvironmentNAV2DUU () | |
Private Member Functions | |
| void | Computedxy () |
| void | ComputeHeuristicValues () |
| bool | InitGeneral () |
| void | InitializeEnvConfig () |
| void | InitializeEnvironment () |
| bool | IsValidRobotPosition (int X, int Y) |
| bool | IsWithinMapCell (int X, int Y) |
| void | ReadConfiguration (FILE *fCfg) |
| void | SetConfiguration (int width, int height, const unsigned char *mapdata, const float *uncertaintymapdata) |
Private Attributes | |
| EnvironmentNAV2DUU_t | EnvNAV2DUU |
| EnvNAV2DUUConfig_t | EnvNAV2DUUCfg |
this class is NOT fully yet implemented, please do not use it!
Definition at line 96 of file environment_nav2Duu.h.
Definition at line 45 of file environment_nav2Duu.cpp.
| EnvironmentNAV2DUU::~EnvironmentNAV2DUU | ( | ) | [inline] |
Definition at line 151 of file environment_nav2Duu.h.
| void EnvironmentNAV2DUU::Computedxy | ( | ) | [private] |
Definition at line 331 of file environment_nav2Duu.cpp.
| void EnvironmentNAV2DUU::ComputeHeuristicValues | ( | ) | [private] |
Definition at line 394 of file environment_nav2Duu.cpp.
| int EnvironmentNAV2DUU::GetFromToHeuristic | ( | int | FromStateID, |
| int | ToStateID | ||
| ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 509 of file environment_nav2Duu.cpp.
| int EnvironmentNAV2DUU::GetGoalHeuristic | ( | int | stateID | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 526 of file environment_nav2Duu.cpp.
| void EnvironmentNAV2DUU::GetPreds | ( | int | stateID, |
| const vector< sbpl_BinaryHiddenVar_t > * | updatedhvaluesV, | ||
| vector< CMDPACTION > * | IncomingDetActionV, | ||
| vector< CMDPACTION > * | IncomingStochActionV, | ||
| vector< sbpl_BinaryHiddenVar_t > * | StochActionNonpreferredOutcomeV | ||
| ) |
not fully implemented yet
Definition at line 559 of file environment_nav2Duu.cpp.
| void EnvironmentNAV2DUU::GetPreds | ( | int | TargetStateID, |
| vector< int > * | PredIDV, | ||
| vector< int > * | CostV | ||
| ) | [inline] |
not fully implemented yet
Definition at line 179 of file environment_nav2Duu.h.
| int EnvironmentNAV2DUU::GetStartHeuristic | ( | int | stateID | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 541 of file environment_nav2Duu.cpp.
| void EnvironmentNAV2DUU::GetSuccs | ( | int | SourceStateID, |
| vector< int > * | SuccIDV, | ||
| vector< int > * | CostV | ||
| ) | [inline] |
not fully implemented yet
Definition at line 173 of file environment_nav2Duu.h.
| bool EnvironmentNAV2DUU::InitGeneral | ( | ) | [private] |
Definition at line 482 of file environment_nav2Duu.cpp.
| bool EnvironmentNAV2DUU::InitializeEnv | ( | const char * | sEnvFile | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 447 of file environment_nav2Duu.cpp.
| bool EnvironmentNAV2DUU::InitializeEnv | ( | int | width, |
| int | height, | ||
| const unsigned char * | mapdata, | ||
| const float * | uncertaintymapdata, | ||
| unsigned char | obsthresh | ||
| ) |
initialize environment. Gridworld is defined as matrix A of size width by height. So, internally, it is accessed as A[x][y] with x ranging from 0 to width-1 and and y from 0 to height-1 Each element in A[x][y] is unsigned char. A[x][y] = 0 corresponds to fully traversable and cost is just Euclidean distance The cost of transition between two neighboring cells is EuclideanDistance*(max(A[sourcex][sourcey],A[targetx][targety])+1) If A[x][y] >= obsthresh, then in the above equation it is assumed to be infinite. mapdata is a pointer to the values of A. If it is null, then A is initialized to all zeros. Mapping is: A[x][y] = mapdata[x+y*width] start/goal are given by startx, starty, goalx,goaly. If they are not known yet, just set them to 0. Later setgoal/setstart can be executed finally obsthresh defined obstacle threshold, as mentioned above uncertaintymapdata is set up in the same way as mapdata in terms of the order in terms of the values, uncertaintymapdata specifies probabilities of being obstructed
Definition at line 465 of file environment_nav2Duu.cpp.
| void EnvironmentNAV2DUU::InitializeEnvConfig | ( | ) | [private] |
Definition at line 275 of file environment_nav2Duu.cpp.
| void EnvironmentNAV2DUU::InitializeEnvironment | ( | ) | [private] |
Definition at line 263 of file environment_nav2Duu.cpp.
| bool EnvironmentNAV2DUU::InitializeMDPCfg | ( | MDPConfig * | MDPCfg | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 498 of file environment_nav2Duu.cpp.
| bool EnvironmentNAV2DUU::IsValidRobotPosition | ( | int | X, |
| int | Y | ||
| ) | [private] |
Definition at line 318 of file environment_nav2Duu.cpp.
| bool EnvironmentNAV2DUU::IsWithinMapCell | ( | int | X, |
| int | Y | ||
| ) | [private] |
Definition at line 325 of file environment_nav2Duu.cpp.
| void EnvironmentNAV2DUU::PrintEnv_Config | ( | FILE * | fOut | ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 433 of file environment_nav2Duu.cpp.
| void EnvironmentNAV2DUU::PrintState | ( | int | stateID, |
| bool | bVerbose, | ||
| FILE * | fOut = NULL |
||
| ) | [virtual] |
see comments on the same function in the parent class
Implements DiscreteSpaceInformation.
Definition at line 408 of file environment_nav2Duu.cpp.
| void EnvironmentNAV2DUU::ReadConfiguration | ( | FILE * | fCfg | ) | [private] |
Definition at line 57 of file environment_nav2Duu.cpp.
| void EnvironmentNAV2DUU::SetAllActionsandAllOutcomes | ( | CMDPSTATE * | state | ) | [inline, virtual] |
not fully implemented yet
Implements DiscreteSpaceInformation.
Definition at line 161 of file environment_nav2Duu.h.
| void EnvironmentNAV2DUU::SetAllPreds | ( | CMDPSTATE * | state | ) | [inline, virtual] |
not fully implemented yet
Implements DiscreteSpaceInformation.
Definition at line 167 of file environment_nav2Duu.h.
| void EnvironmentNAV2DUU::SetConfiguration | ( | int | width, |
| int | height, | ||
| const unsigned char * | mapdata, | ||
| const float * | uncertaintymapdata | ||
| ) | [private] |
Definition at line 211 of file environment_nav2Duu.cpp.
| int EnvironmentNAV2DUU::SetGoal | ( | int | x, |
| int | y | ||
| ) |
set goal location
Definition at line 721 of file environment_nav2Duu.cpp.
| int EnvironmentNAV2DUU::SetStart | ( | int | x, |
| int | y | ||
| ) |
set start location
Definition at line 747 of file environment_nav2Duu.cpp.
| int EnvironmentNAV2DUU::SizeofCreatedEnv | ( | ) | [virtual] |
not fully implemented yet
Implements DiscreteSpaceInformation.
Definition at line 307 of file environment_nav2Duu.cpp.
| int EnvironmentNAV2DUU::SizeofH | ( | ) |
not fully implemented yet
Definition at line 312 of file environment_nav2Duu.cpp.
| bool EnvironmentNAV2DUU::UpdateCost | ( | int | x, |
| int | y, | ||
| unsigned char | newcost | ||
| ) |
update the traversability of a cell<x,y>
Definition at line 769 of file environment_nav2Duu.cpp.
Definition at line 197 of file environment_nav2Duu.h.
Definition at line 196 of file environment_nav2Duu.h.
