#include <environment_navxythetalat.h>

Inheritance diagram for EnvironmentNAVXYTHETALAT:

Public Member Functions
void	ConvertStateIDPathintoXYThetaPath (vector< int > stateIDPath, vector< EnvNAVXYTHETALAT3Dpt_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
	EnvironmentNAVXYTHETALAT ()
void	GetCoordFromState (int stateID, int &x, int &y, int &theta) 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)
	returns stateID for a state with coords x,y,theta
virtual void	GetSuccs (int SourceStateID, vector< int > SuccIDV, vector< int > CostV, vector< EnvNAVXYTHETALATAction_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)
	sets goal in meters/radians
void	SetGoalTolerance (double tol_x, double tol_y, double tol_theta)
	sets goal tolerance. (Note goal tolerance is ignored currently)
int	SetStart (double x, double y, double theta)
	sets start in meters/radians
virtual int	SizeofCreatedEnv ()
	see comments on the same function in the parent class
	~EnvironmentNAVXYTHETALAT ()
Protected Member Functions
EnvNAVXYTHETALATHashEntry_t *	CreateNewHashEntry_hash (int X, int Y, int Theta)
EnvNAVXYTHETALATHashEntry_t *	CreateNewHashEntry_lookup (int X, int Y, int Theta)
unsigned int	GETHASHBIN (unsigned int X, unsigned int Y, unsigned int Theta)
EnvNAVXYTHETALATHashEntry_t *	GetHashEntry_hash (int X, int Y, int Theta)
EnvNAVXYTHETALATHashEntry_t *	GetHashEntry_lookup (int X, int Y, int Theta)
virtual void	InitializeEnvironment ()
void	PrintHashTableHist (FILE *fOut)
Protected Attributes
vector < EnvNAVXYTHETALATHashEntry_t * > *	Coord2StateIDHashTable
EnvNAVXYTHETALATHashEntry_t **	Coord2StateIDHashTable_lookup
EnvNAVXYTHETALATHashEntry_t (EnvironmentNAVXYTHETALAT::	CreateNewHashEntry )(int X, int Y, int Theta)
EnvNAVXYTHETALATHashEntry_t (EnvironmentNAVXYTHETALAT::	GetHashEntry )(int X, int Y, int Theta)
int	HashTableSize
vector < EnvNAVXYTHETALATHashEntry_t * >	StateID2CoordTable

Detailed Description

Definition at line 429 of file environment_navxythetalat.h.

Constructor & Destructor Documentation

EnvironmentNAVXYTHETALAT::EnvironmentNAVXYTHETALAT ( ) [inline]

Definition at line 433 of file environment_navxythetalat.h.

EnvironmentNAVXYTHETALAT::~EnvironmentNAVXYTHETALAT ( )

Definition at line 2012 of file environment_navxythetalat.cpp.

Member Function Documentation

void EnvironmentNAVXYTHETALAT::ConvertStateIDPathintoXYThetaPath	(	vector< int > *	stateIDPath,
		vector< EnvNAVXYTHETALAT3Dpt_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 2056 of file environment_navxythetalat.cpp.

EnvNAVXYTHETALATHashEntry_t * EnvironmentNAVXYTHETALAT::CreateNewHashEntry_hash	(	int	X,
		int	Y,
		int	Theta
	)		`[protected]`

Definition at line 2380 of file environment_navxythetalat.cpp.

EnvNAVXYTHETALATHashEntry_t * EnvironmentNAVXYTHETALAT::CreateNewHashEntry_lookup	(	int	X,
		int	Y,
		int	Theta
	)		`[protected]`

Definition at line 2324 of file environment_navxythetalat.cpp.

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

returns state coordinates of state with ID=stateID

Definition at line 2039 of file environment_navxythetalat.cpp.

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

see comments on the same function in the parent class

Implements EnvironmentNAVXYTHETALATTICE.

Definition at line 2781 of file environment_navxythetalat.cpp.

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

see comments on the same function in the parent class

Implements EnvironmentNAVXYTHETALATTICE.

Definition at line 2810 of file environment_navxythetalat.cpp.

unsigned int EnvironmentNAVXYTHETALAT::GETHASHBIN	(	unsigned int	X,
		unsigned int	Y,
		unsigned int	Theta
	)		`[protected]`

Definition at line 2750 of file environment_navxythetalat.cpp.

EnvNAVXYTHETALATHashEntry_t * EnvironmentNAVXYTHETALAT::GetHashEntry_hash	(	int	X,
		int	Y,
		int	Theta
	)		`[protected]`

Definition at line 2284 of file environment_navxythetalat.cpp.

EnvNAVXYTHETALATHashEntry_t * EnvironmentNAVXYTHETALAT::GetHashEntry_lookup	(	int	X,
		int	Y,
		int	Theta
	)		`[protected]`

Definition at line 2275 of file environment_navxythetalat.cpp.

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

returns all predecessors states and corresponding costs of actions

Implements EnvironmentNAVXYTHETALATTICE.

Definition at line 2492 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALAT::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 EnvironmentNAVXYTHETALATTICE.

Reimplemented in EnvironmentNAVXYTHETAMLEVLAT.

Definition at line 2619 of file environment_navxythetalat.cpp.

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

see comments on the same function in the parent class

Implements EnvironmentNAVXYTHETALATTICE.

Definition at line 2834 of file environment_navxythetalat.cpp.

int EnvironmentNAVXYTHETALAT::GetStateFromCoord	(	int	x,
		int	y,
		int	theta
	)

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

Definition at line 2046 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALAT::GetSuccs	(	int	SourceStateID,
		vector< int > *	SuccIDV,
		vector< int > *	CostV,
		vector< EnvNAVXYTHETALATAction_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 EnvironmentNAVXYTHETALATTICE.

Definition at line 2430 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALAT::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 EnvironmentNAVXYTHETALATTICE.

Reimplemented in EnvironmentNAVXYTHETAMLEVLAT.

Definition at line 2652 of file environment_navxythetalat.cpp.

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

Implements EnvironmentNAVXYTHETALATTICE.

Definition at line 2689 of file environment_navxythetalat.cpp.

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

Definition at line 2756 of file environment_navxythetalat.cpp.

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

prints state info (coordinates) into file

Implements DiscreteSpaceInformation.

Definition at line 2246 of file environment_navxythetalat.cpp.

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

see comments on the same function in the parent class

Reimplemented from EnvironmentNAVXYTHETALATTICE.

Definition at line 501 of file environment_navxythetalat.h.

void EnvironmentNAVXYTHETALAT::SetAllActionsandAllOutcomes ( CMDPSTATE * state ) [virtual]

see comments on the same function in the parent class

Implements EnvironmentNAVXYTHETALATTICE.

Definition at line 2552 of file environment_navxythetalat.cpp.

int EnvironmentNAVXYTHETALAT::SetGoal	(	double	x,
		double	y,
		double	theta
	)

sets goal in meters/radians

Definition at line 2157 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALAT::SetGoalTolerance	(	double	tol_x,
		double	tol_y,
		double	tol_theta
	)		`[inline]`

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

< not used yet

Definition at line 450 of file environment_navxythetalat.h.

int EnvironmentNAVXYTHETALAT::SetStart	(	double	x,
		double	y,
		double	theta
	)

sets start in meters/radians

Definition at line 2204 of file environment_navxythetalat.cpp.

int EnvironmentNAVXYTHETALAT::SizeofCreatedEnv ( ) [virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 2860 of file environment_navxythetalat.cpp.

Member Data Documentation

vector<EnvNAVXYTHETALATHashEntry_t*>* EnvironmentNAVXYTHETALAT::Coord2StateIDHashTable [protected]

Definition at line 507 of file environment_navxythetalat.h.

EnvNAVXYTHETALATHashEntry_t** EnvironmentNAVXYTHETALAT::Coord2StateIDHashTable_lookup [protected]

Definition at line 511 of file environment_navxythetalat.h.

EnvNAVXYTHETALATHashEntry_t*(EnvironmentNAVXYTHETALAT::* EnvironmentNAVXYTHETALAT::CreateNewHashEntry)(int X, int Y, int Theta) [protected]

Definition at line 522 of file environment_navxythetalat.h.

EnvNAVXYTHETALATHashEntry_t*(EnvironmentNAVXYTHETALAT::* EnvironmentNAVXYTHETALAT::GetHashEntry)(int X, int Y, int Theta) [protected]

Definition at line 521 of file environment_navxythetalat.h.

int EnvironmentNAVXYTHETALAT::HashTableSize [protected]

Definition at line 501 of file environment_navxythetalat.h.

vector<EnvNAVXYTHETALATHashEntry_t*> EnvironmentNAVXYTHETALAT::StateID2CoordTable [protected]

Definition at line 509 of file environment_navxythetalat.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation