3D (x,y,theta) planning using lattice-based graph problem. For general structure see comments on parent class DiscreteSpaceInformation For info on lattice-based planning used here, you can check out the paper: Maxim Likhachev and Dave Ferguson, " Planning Long Dynamically-Feasible Maneuvers for Autonomous Vehicles", IJRR'09 More...

#include <environment_navxythetalat.h>

Inheritance diagram for EnvironmentNAVXYTHETALATTICE:

[legend]

List of all members.

Public Member Functions
virtual void	EnsureHeuristicsUpdated (bool bGoalHeuristics)
	see comments on the same function in the parent class
	EnvironmentNAVXYTHETALATTICE ()
const EnvNAVXYTHETALATConfig_t *	GetEnvNavConfig ()
	get internal configuration data structure
virtual int	GetEnvParameter (const char *parameter)
	returns the value of specific parameter - see function body for the list of parameters
void	GetEnvParms (int size_x, int size_y, double startx, double starty, double starttheta, double goalx, double goaly, double goaltheta, double cellsize_m, double nominalvel_mpersecs, double timetoturn45degsinplace_secs, unsigned char obsthresh, vector< SBPL_xytheta_mprimitive > *motionprimitiveV)
	returns environment parameters. Useful for creating a copy environment
virtual int	GetFromToHeuristic (int FromStateID, int ToStateID)=0
	see comments on the same function in the parent class
virtual int	GetGoalHeuristic (int stateID)=0
	see comments on the same function in the parent class
unsigned char	GetMapCost (int x, int y)
	returns the cost corresponding to the cell <x,y>
virtual void	GetPreds (int TargetStateID, vector< int > PredIDV, vector< int > CostV)=0
	see comments on the same function in the parent class
virtual void	GetPredsofChangedEdges (vector< nav2dcell_t > const changedcellsV, vector< int > preds_of_changededgesIDV)=0
	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)=0
	see comments on the same function in the parent class
virtual void	GetSuccs (int SourceStateID, vector< int > SuccIDV, vector< int > CostV)
	see comments on the same function in the parent class
virtual void	GetSuccsofChangedEdges (vector< nav2dcell_t > const changedcellsV, vector< int > succs_of_changededgesIDV)=0
	same as GetPredsofChangedEdges, but returns successor states. Both functions need to be present for incremental search
bool	InitializeEnv (const char sEnvFile, const vector< sbpl_2Dpt_t > &perimeterptsV, const char sMotPrimFile)
	initialization of environment from file. See .cfg files for examples it also takes the perimeter of the robot with respect to some reference point centered at x=0,y=0 and orientation = 0 (along x axis). The perimeter is defined in meters as a sequence of vertices of a polygon defining the perimeter. If vector is of zero size, then robot is assumed to be point robot (you may want to inflate all obstacles by its actual radius) Motion primitives file defines the motion primitives available to the robot
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, double startx, double starty, double starttheta, 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 nominalvel_mpersecs, double timetoturn45degsinplace_secs, unsigned char obsthresh, const char sMotPrimFile)
	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) f A[x][y] >= obsthresh, then in the above equation it is assumed to be infinite. The cost also incorporates the length of a motion primitive and its cost_multiplier (see getcost function) 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+ywidth] start/goal are given by startx, starty, starttheta, goalx,goaly, goaltheta in meters/radians. 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 goaltolerances are currently ignored for explanation of perimeter, see comments for InitializeEnv function that reads all from file cellsize is discretization in meters nominalvel_mpersecs is assumed velocity of vehicle while moving forward in m/sec timetoturn45degsinplace_secs is rotational velocity in secs/45 degrees turn
bool	InitializeMDPCfg (MDPConfig *MDPCfg)
	see comments on the same function in the parent class
bool	IsObstacle (int x, int y)
bool	IsValidConfiguration (int X, int Y, int Theta)
	returns false if robot intersects obstacles or lies outside of the map. Note this is pretty expensive operation since it computes the footprint of the robot based on its x,y,theta
bool	IsWithinMapCell (int X, int Y)
	returns true if cell is within map
bool	PoseContToDisc (double px, double py, double pth, int &ix, int &iy, int &ith) const
	Transform a pose into discretized form. The angle 'pth' is considered to be valid if it lies between -2pi and 2pi (some people will prefer 0<=pth<2pi, others -pi<pth<=pi, so this compromise should suit everyone).
bool	PoseDiscToCont (int ix, int iy, int ith, double &px, double &py, double &pth) const
	Transform grid indices into a continuous pose. The computed angle lies within 0<=pth<2pi.
void	PrintEnv_Config (FILE *fOut)
	see comments on the same function in the parent class
void	PrintTimeStat (FILE *fOut)
	prints time statistics
virtual void	PrintVars ()
	prints environment variables for debugging
virtual void	SetAllActionsandAllOutcomes (CMDPSTATE *state)=0
	see comments on the same function in the parent class
virtual void	SetAllPreds (CMDPSTATE *state)
	see comments on the same function in the parent class
virtual bool	SetEnvParameter (const char *parameter, int value)
	way to set up various parameters. For a list of parameters, see the body of the function - it is pretty straightforward
bool	SetMap (const unsigned char *mapdata)
	re-setting the whole 2D map transform from linear array mapdata to the 2D matrix used internally: Grid2D[x][y] = mapdata[x+y*width]
bool	UpdateCost (int x, int y, unsigned char newcost)
	update the traversability of a cell<x,y>
virtual	~EnvironmentNAVXYTHETALATTICE ()
Protected Member Functions
void	CalculateFootprintForPose (EnvNAVXYTHETALAT3Dpt_t pose, vector< sbpl_2Dcell_t > *footprint)
void	CalculateFootprintForPose (EnvNAVXYTHETALAT3Dpt_t pose, vector< sbpl_2Dcell_t > *footprint, const vector< sbpl_2Dpt_t > &FootprintPolygon)
bool	CheckQuant (FILE *fOut)
void	ComputeHeuristicValues ()
void	ComputeReplanningData ()
void	ComputeReplanningDataforAction (EnvNAVXYTHETALATAction_t *action)
void	CreateStartandGoalStates ()
double	EuclideanDistance_m (int X1, int Y1, int X2, int Y2)
virtual int	GetActionCost (int SourceX, int SourceY, int SourceTheta, EnvNAVXYTHETALATAction_t *action)
virtual void	GetSuccs (int SourceStateID, vector< int > SuccIDV, vector< int > CostV, vector< EnvNAVXYTHETALATAction_t * > *actionindV=NULL)=0
bool	InitGeneral (vector< SBPL_xytheta_mprimitive > *motionprimitiveV)
void	InitializeEnvConfig (vector< SBPL_xytheta_mprimitive > *motionprimitiveV)
virtual void	InitializeEnvironment ()=0
virtual bool	IsValidCell (int X, int Y)
void	PrecomputeActions ()
void	PrecomputeActionswithBaseMotionPrimitive (vector< SBPL_xytheta_mprimitive > *motionprimitiveV)
void	PrecomputeActionswithCompleteMotionPrimitive (vector< SBPL_xytheta_mprimitive > *motionprimitiveV)
void	PrintHeuristicValues ()
virtual void	ReadConfiguration (FILE *fCfg)
bool	ReadinCell (EnvNAVXYTHETALAT3Dcell_t cell, FILE fIn)
bool	ReadinMotionPrimitive (SBPL_xytheta_mprimitive pMotPrim, FILE fIn)
bool	ReadinPose (EnvNAVXYTHETALAT3Dpt_t pose, FILE fIn)
bool	ReadMotionPrimitives (FILE *fMotPrims)
void	RemoveSourceFootprint (EnvNAVXYTHETALAT3Dpt_t sourcepose, vector< sbpl_2Dcell_t > *footprint)
void	RemoveSourceFootprint (EnvNAVXYTHETALAT3Dpt_t sourcepose, vector< sbpl_2Dcell_t > *footprint, const vector< sbpl_2Dpt_t > &FootprintPolygon)
void	SetConfiguration (int width, int height, const unsigned char *mapdata, int startx, int starty, int starttheta, int goalx, int goaly, int goaltheta, double cellsize_m, double nominalvel_mpersecs, double timetoturn45degsinplace_secs, const vector< sbpl_2Dpt_t > &robot_perimeterV)
Protected Attributes
vector< EnvNAVXYTHETALAT3Dcell_t >	affectedpredstatesV
vector< EnvNAVXYTHETALAT3Dcell_t >	affectedsuccstatesV
bool	bNeedtoRecomputeGoalHeuristics
bool	bNeedtoRecomputeStartHeuristics
EnvironmentNAVXYTHETALAT_t	EnvNAVXYTHETALAT
EnvNAVXYTHETALATConfig_t	EnvNAVXYTHETALATCfg
SBPL2DGridSearch *	grid2Dsearchfromgoal
SBPL2DGridSearch *	grid2Dsearchfromstart
int	iteration

Detailed Description

3D (x,y,theta) planning using lattice-based graph problem. For general structure see comments on parent class DiscreteSpaceInformation For info on lattice-based planning used here, you can check out the paper: Maxim Likhachev and Dave Ferguson, " Planning Long Dynamically-Feasible Maneuvers for Autonomous Vehicles", IJRR'09

Definition at line 176 of file environment_navxythetalat.h.

Constructor & Destructor Documentation

EnvironmentNAVXYTHETALATTICE::EnvironmentNAVXYTHETALATTICE ( )

Definition at line 47 of file environment_navxythetalat.cpp.

EnvironmentNAVXYTHETALATTICE::~EnvironmentNAVXYTHETALATTICE ( ) [virtual]

Definition at line 71 of file environment_navxythetalat.cpp.

Member Function Documentation

void EnvironmentNAVXYTHETALATTICE::CalculateFootprintForPose	(	EnvNAVXYTHETALAT3Dpt_t	pose,
		vector< sbpl_2Dcell_t > *	footprint
	)		`[protected]`

Definition at line 1485 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::CalculateFootprintForPose	(	EnvNAVXYTHETALAT3Dpt_t	pose,
		vector< sbpl_2Dcell_t > *	footprint,
		const vector< sbpl_2Dpt_t > &	FootprintPolygon
	)		`[protected]`

Definition at line 1354 of file environment_navxythetalat.cpp.

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

Definition at line 1578 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::ComputeHeuristicValues ( ) [protected]

Definition at line 1560 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::ComputeReplanningData ( ) [protected]

Definition at line 758 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::ComputeReplanningDataforAction ( EnvNAVXYTHETALATAction_t * action ) [protected]

Definition at line 655 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::CreateStartandGoalStates ( ) [protected]

void EnvironmentNAVXYTHETALATTICE::EnsureHeuristicsUpdated ( bool bGoalHeuristics ) [virtual]

see comments on the same function in the parent class

Reimplemented from DiscreteSpaceInformation.

Definition at line 1529 of file environment_navxythetalat.cpp.

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

Definition at line 1345 of file environment_navxythetalat.cpp.

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

Reimplemented in EnvironmentNAVXYTHETAMLEVLAT.

Definition at line 1277 of file environment_navxythetalat.cpp.

const EnvNAVXYTHETALATConfig_t * EnvironmentNAVXYTHETALATTICE::GetEnvNavConfig ( )

get internal configuration data structure

Definition at line 1807 of file environment_navxythetalat.cpp.

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

returns the value of specific parameter - see function body for the list of parameters

Definition at line 1983 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::GetEnvParms	(	int *	size_x,
		int *	size_y,
		double *	startx,
		double *	starty,
		double *	starttheta,
		double *	goalx,
		double *	goaly,
		double *	goaltheta,
		double *	cellsize_m,
		double *	nominalvel_mpersecs,
		double *	timetoturn45degsinplace_secs,
		unsigned char *	obsthresh,
		vector< SBPL_xytheta_mprimitive > *	motionprimitiveV
	)

returns environment parameters. Useful for creating a copy environment

Definition at line 1882 of file environment_navxythetalat.cpp.

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

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Implemented in EnvironmentNAVXYTHETALAT.

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

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Implemented in EnvironmentNAVXYTHETALAT.

unsigned char EnvironmentNAVXYTHETALATTICE::GetMapCost	(	int	x,
		int	y
	)

returns the cost corresponding to the cell <x,y>

Reimplemented in EnvironmentNAVXYTHETAMLEVLAT.

Definition at line 1929 of file environment_navxythetalat.cpp.

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

see comments on the same function in the parent class

Implemented in EnvironmentNAVXYTHETALAT.

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

Implemented in EnvironmentNAVXYTHETALAT, and EnvironmentNAVXYTHETAMLEVLAT.

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

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Implemented in EnvironmentNAVXYTHETALAT.

void EnvironmentNAVXYTHETALATTICE::GetSuccs	(	int	SourceStateID,
		vector< int > *	SuccIDV,
		vector< int > *	CostV
	)		`[virtual]`

see comments on the same function in the parent class

Definition at line 1798 of file environment_navxythetalat.cpp.

virtual void EnvironmentNAVXYTHETALATTICE::GetSuccs	(	int	SourceStateID,
		vector< int > *	SuccIDV,
		vector< int > *	CostV,
		vector< EnvNAVXYTHETALATAction_t * > *	actionindV = `NULL`
	)		`[protected, pure virtual]`

Implemented in EnvironmentNAVXYTHETALAT.

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

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

Implemented in EnvironmentNAVXYTHETALAT, and EnvironmentNAVXYTHETAMLEVLAT.

bool EnvironmentNAVXYTHETALATTICE::InitGeneral ( vector< SBPL_xytheta_mprimitive > * motionprimitiveV ) [protected]

Definition at line 1721 of file environment_navxythetalat.cpp.

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

initialization of environment from file. See .cfg files for examples it also takes the perimeter of the robot with respect to some reference point centered at x=0,y=0 and orientation = 0 (along x axis). The perimeter is defined in meters as a sequence of vertices of a polygon defining the perimeter. If vector is of zero size, then robot is assumed to be point robot (you may want to inflate all obstacles by its actual radius) Motion primitives file defines the motion primitives available to the robot

Definition at line 1604 of file environment_navxythetalat.cpp.

bool EnvironmentNAVXYTHETALATTICE::InitializeEnv ( const char * sEnvFile ) [virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 1642 of file environment_navxythetalat.cpp.

bool EnvironmentNAVXYTHETALATTICE::InitializeEnv	(	int	width,
		int	height,
		const unsigned char *	mapdata,
		double	startx,
		double	starty,
		double	starttheta,
		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	nominalvel_mpersecs,
		double	timetoturn45degsinplace_secs,
		unsigned char	obsthresh,
		const char *	sMotPrimFile
	)

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) f A[x][y] >= obsthresh, then in the above equation it is assumed to be infinite. The cost also incorporates the length of a motion primitive and its cost_multiplier (see getcost function) 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, starttheta, goalx,goaly, goaltheta in meters/radians. 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 goaltolerances are currently ignored for explanation of perimeter, see comments for InitializeEnv function that reads all from file cellsize is discretization in meters nominalvel_mpersecs is assumed velocity of vehicle while moving forward in m/sec timetoturn45degsinplace_secs is rotational velocity in secs/45 degrees turn

Parameters:

mapdata if mapdata is NULL the grid is initialized to all freespace

Definition at line 1662 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::InitializeEnvConfig ( vector< SBPL_xytheta_mprimitive > * motionprimitiveV ) [protected]

Definition at line 1181 of file environment_navxythetalat.cpp.

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

Implemented in EnvironmentNAVXYTHETALAT.

bool EnvironmentNAVXYTHETALATTICE::InitializeMDPCfg ( MDPConfig * MDPCfg ) [virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 1736 of file environment_navxythetalat.cpp.

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

returns true if cell is untraversable

Reimplemented in EnvironmentNAVXYTHETAMLEVLAT.

Definition at line 1870 of file environment_navxythetalat.cpp.

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

Reimplemented in EnvironmentNAVXYTHETAMLEVLAT.

Definition at line 1233 of file environment_navxythetalat.cpp.

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

returns false if robot intersects obstacles or lies outside of the map. Note this is pretty expensive operation since it computes the footprint of the robot based on its x,y,theta

Reimplemented in EnvironmentNAVXYTHETAMLEVLAT.

Definition at line 1246 of file environment_navxythetalat.cpp.

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

returns true if cell is within map

Definition at line 1240 of file environment_navxythetalat.cpp.

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

Transform a pose into discretized form. The angle 'pth' is considered to be valid if it lies between -2pi and 2pi (some people will prefer 0<=pth<2pi, others -pi<pth<=pi, so this compromise should suit everyone).

Note:: Even if this method returns false, you can still use the computed indices, for example to figure out how big your map should have been.

Returns:: true if the resulting indices lie within the grid bounds and the angle was valid.

Definition at line 1906 of file environment_navxythetalat.cpp.

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

Transform grid indices into a continuous pose. The computed angle lies within 0<=pth<2pi.

Note:: Even if this method returns false, you can still use the computed indices, for example to figure out poses that lie outside of your current map.

Returns:: true if all the indices are within grid bounds.

Definition at line 1918 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::PrecomputeActions ( ) [protected]

Definition at line 1046 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::PrecomputeActionswithBaseMotionPrimitive ( vector< SBPL_xytheta_mprimitive > * motionprimitiveV ) [protected]

Definition at line 775 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::PrecomputeActionswithCompleteMotionPrimitive ( vector< SBPL_xytheta_mprimitive > * motionprimitiveV ) [protected]

Definition at line 899 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::PrintEnv_Config ( FILE * fOut ) [virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 1848 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::PrintHeuristicValues ( ) [protected]

Definition at line 1746 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::PrintTimeStat ( FILE * fOut )

prints time statistics

Definition at line 1858 of file environment_navxythetalat.cpp.

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

prints environment variables for debugging

Reimplemented in EnvironmentNAVXYTHETALAT.

Definition at line 360 of file environment_navxythetalat.h.

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

Definition at line 197 of file environment_navxythetalat.cpp.

bool EnvironmentNAVXYTHETALATTICE::ReadinCell	(	EnvNAVXYTHETALAT3Dcell_t *	cell,
		FILE *	fIn
	)		`[protected]`

Definition at line 441 of file environment_navxythetalat.cpp.

bool EnvironmentNAVXYTHETALATTICE::ReadinMotionPrimitive	(	SBPL_xytheta_mprimitive *	pMotPrim,
		FILE *	fIn
	)		`[protected]`

Definition at line 480 of file environment_navxythetalat.cpp.

bool EnvironmentNAVXYTHETALATTICE::ReadinPose	(	EnvNAVXYTHETALAT3Dpt_t *	pose,
		FILE *	fIn
	)		`[protected]`

Definition at line 461 of file environment_navxythetalat.cpp.

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

Definition at line 586 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::RemoveSourceFootprint	(	EnvNAVXYTHETALAT3Dpt_t	sourcepose,
		vector< sbpl_2Dcell_t > *	footprint
	)		`[protected]`

Definition at line 1518 of file environment_navxythetalat.cpp.

void EnvironmentNAVXYTHETALATTICE::RemoveSourceFootprint	(	EnvNAVXYTHETALAT3Dpt_t	sourcepose,
		vector< sbpl_2Dcell_t > *	footprint,
		const vector< sbpl_2Dpt_t > &	FootprintPolygon
	)		`[protected]`

Definition at line 1492 of file environment_navxythetalat.cpp.

virtual void EnvironmentNAVXYTHETALATTICE::SetAllActionsandAllOutcomes ( CMDPSTATE * state ) [pure virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Implemented in EnvironmentNAVXYTHETALAT.

void EnvironmentNAVXYTHETALATTICE::SetAllPreds ( CMDPSTATE * state ) [virtual]

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 1789 of file environment_navxythetalat.cpp.

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