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_cart_planner.h>

Inheritance diagram for EnvironmentNAVXYTHETACARTLATTICE:

[legend]

List of all members.

Public Member Functions
virtual void	EnsureHeuristicsUpdated (bool bGoalHeuristics)
	see comments on the same function in the parent class
	EnvironmentNAVXYTHETACARTLATTICE ()
const EnvNAVXYTHETACARTLATConfig_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 startcartangle, double goalx, double goaly, double goaltheta, double goalcartangle, double cellsize_m, double nominalvel_mpersecs, double timetoturn45degsinplace_secs, unsigned char obsthresh, vector< SBPL_xythetacart_mprimitive > *mprimitiveV)
	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 vector< sbpl_2Dpt_t > &cartperimeterptsV, sbpl_2Dpt_t &cart_offset, 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 startcartangle, double goalx, double goaly, double goaltheta, double goalcartangle, double goaltol_x, double goaltol_y, double goaltol_theta, double goaltol_cartangle, const vector< sbpl_2Dpt_t > &perimeterptsV, const sbpl_2Dpt_t &cart_offset, const vector< sbpl_2Dpt_t > &cartptsV, 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, int CartAngle)
	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
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	UpdateCost (int x, int y, unsigned char newcost)
	update the traversability of a cell<x,y>
virtual	~EnvironmentNAVXYTHETACARTLATTICE ()
Public Attributes
bool	initialized_
Protected Member Functions
void	CalculateFootprintForPose (EnvNAVXYTHETACARTLAT3Dpt_t pose, vector< sbpl_2Dcell_t > *footprint)
bool	CheckQuant (FILE *fOut)
void	ComputeHeuristicValues ()
void	ComputeReplanningData ()
void	ComputeReplanningDataforAction (EnvNAVXYTHETACARTLATAction_t *action)
void	CreateStartandGoalStates ()
double	EuclideanDistance_m (int X1, int Y1, int X2, int Y2)
virtual int	GetActionCost (int SourceX, int SourceY, int SourceTheta, int SourceCartAngle, EnvNAVXYTHETACARTLATAction_t *action)
EnvNAVXYTHETACARTLAT3Dpt_t	getCartCenter (EnvNAVXYTHETACARTLAT3Dpt_t pose, sbpl_2Dpt_t cart_center_offset)
virtual void	GetSuccs (int SourceStateID, vector< int > SuccIDV, vector< int > CostV, vector< EnvNAVXYTHETACARTLATAction_t * > *actionindV=NULL)=0
bool	InitGeneral (vector< SBPL_xythetacart_mprimitive > *motionprimitiveV)
void	InitializeEnvConfig (vector< SBPL_xythetacart_mprimitive > *motionprimitiveV)
virtual void	InitializeEnvironment ()=0
bool	IsValidCell (int X, int Y)
void	PrecomputeActions ()
void	PrecomputeActionswithBaseMotionPrimitive (vector< SBPL_xythetacart_mprimitive > *motionprimitiveV)
void	PrecomputeActionswithCompleteMotionPrimitive (vector< SBPL_xythetacart_mprimitive > *motionprimitiveV)
void	PrintFootprint ()
void	PrintHeuristicValues ()
virtual void	ReadConfiguration (FILE *fCfg)
bool	ReadinCell (EnvNAVXYTHETACARTLAT3Dcell_t cell, FILE fIn)
bool	ReadinMotionPrimitive (SBPL_xythetacart_mprimitive pMotPrim, FILE fIn)
bool	ReadinPose (EnvNAVXYTHETACARTLAT3Dpt_t pose, FILE fIn)
bool	ReadMotionPrimitives (FILE *fMotPrims)
void	RemoveSourceFootprint (EnvNAVXYTHETACARTLAT3Dpt_t sourcepose, vector< sbpl_2Dcell_t > *footprint)
void	SetConfiguration (int width, int height, const unsigned char *mapdata, int startx, int starty, int starttheta, int startcartangle, int goalx, int goaly, int goaltheta, int goalcartangle, double cellsize_m, double nominalvel_mpersecs, double timetoturn45degsinplace_secs, const vector< sbpl_2Dpt_t > &robot_perimeterV, const vector< sbpl_2Dpt_t > &cart_perimeterV, const sbpl_2Dpt_t &cart_offset)
Protected Attributes
vector < EnvNAVXYTHETACARTLAT3Dcell_t >	affectedpredstatesV
vector < EnvNAVXYTHETACARTLAT3Dcell_t >	affectedsuccstatesV
bool	bNeedtoRecomputeGoalHeuristics
bool	bNeedtoRecomputeStartHeuristics
EnvironmentNAVXYTHETACARTLAT_t	EnvNAVXYTHETACARTLAT
EnvNAVXYTHETACARTLATConfig_t	EnvNAVXYTHETACARTLATCfg
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 189 of file environment_cart_planner.h.

Constructor & Destructor Documentation

EnvironmentNAVXYTHETACARTLATTICE::EnvironmentNAVXYTHETACARTLATTICE ( )

Definition at line 71 of file environment_cart_planner.cpp.

EnvironmentNAVXYTHETACARTLATTICE::~EnvironmentNAVXYTHETACARTLATTICE ( ) [virtual]

Definition at line 93 of file environment_cart_planner.cpp.

Member Function Documentation

void EnvironmentNAVXYTHETACARTLATTICE::CalculateFootprintForPose	(	EnvNAVXYTHETACARTLAT3Dpt_t	pose,
		vector< sbpl_2Dcell_t > *	footprint
	)		`[protected]`

Definition at line 1627 of file environment_cart_planner.cpp.

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

Definition at line 1952 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::ComputeHeuristicValues ( ) [protected]

Definition at line 1934 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::ComputeReplanningData ( ) [protected]

Definition at line 955 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::ComputeReplanningDataforAction ( EnvNAVXYTHETACARTLATAction_t * action ) [protected]

Definition at line 847 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::CreateStartandGoalStates ( ) [protected]

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

see comments on the same function in the parent class

Reimplemented from DiscreteSpaceInformation.

Definition at line 1903 of file environment_cart_planner.cpp.

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

Definition at line 1618 of file environment_cart_planner.cpp.

int EnvironmentNAVXYTHETACARTLATTICE::GetActionCost	(	int	SourceX,
		int	SourceY,
		int	SourceTheta,
		int	SourceCartAngle,
		EnvNAVXYTHETACARTLATAction_t *	action
	)		`[protected, virtual]`

Definition at line 1539 of file environment_cart_planner.cpp.

EnvNAVXYTHETACARTLAT3Dpt_t EnvironmentNAVXYTHETACARTLATTICE::getCartCenter	(	EnvNAVXYTHETACARTLAT3Dpt_t	pose,
		sbpl_2Dpt_t	cart_center_offset
	)		`[protected]`

Definition at line 1861 of file environment_cart_planner.cpp.

const EnvNAVXYTHETACARTLATConfig_t * EnvironmentNAVXYTHETACARTLATTICE::GetEnvNavConfig ( )

get internal configuration data structure

Definition at line 2253 of file environment_cart_planner.cpp.

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

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

Definition at line 2390 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::GetEnvParms	(	int *	size_x,
		int *	size_y,
		double *	startx,
		double *	starty,
		double *	starttheta,
		double *	startcartangle,
		double *	goalx,
		double *	goaly,
		double *	goaltheta,
		double *	goalcartangle,
		double *	cellsize_m,
		double *	nominalvel_mpersecs,
		double *	timetoturn45degsinplace_secs,
		unsigned char *	obsthresh,
		vector< SBPL_xythetacart_mprimitive > *	mprimitiveV
	)

returns environment parameters. Useful for creating a copy environment

Definition at line 2309 of file environment_cart_planner.cpp.

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

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Implemented in EnvironmentNAVXYTHETACARTLAT.

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

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Implemented in EnvironmentNAVXYTHETACARTLAT.

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

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

Definition at line 2338 of file environment_cart_planner.cpp.

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

see comments on the same function in the parent class

Implemented in EnvironmentNAVXYTHETACARTLAT.

virtual void EnvironmentNAVXYTHETACARTLATTICE::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 EnvironmentNAVXYTHETACARTLAT.

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

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Implemented in EnvironmentNAVXYTHETACARTLAT.

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

see comments on the same function in the parent class

Definition at line 2244 of file environment_cart_planner.cpp.

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

Implemented in EnvironmentNAVXYTHETACARTLAT.

virtual void EnvironmentNAVXYTHETACARTLATTICE::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 EnvironmentNAVXYTHETACARTLAT.

bool EnvironmentNAVXYTHETACARTLATTICE::InitGeneral ( vector< SBPL_xythetacart_mprimitive > * motionprimitiveV ) [protected]

Definition at line 2174 of file environment_cart_planner.cpp.

bool EnvironmentNAVXYTHETACARTLATTICE::InitializeEnv	(	const char *	sEnvFile,
		const vector< sbpl_2Dpt_t > &	perimeterptsV,
		const vector< sbpl_2Dpt_t > &	cartperimeterptsV,
		sbpl_2Dpt_t &	cart_offset,
		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 1978 of file environment_cart_planner.cpp.

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

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 2019 of file environment_cart_planner.cpp.

bool EnvironmentNAVXYTHETACARTLATTICE::InitializeEnv	(	int	width,
		int	height,
		const unsigned char *	mapdata,
		double	startx,
		double	starty,
		double	starttheta,
		double	startcartangle,
		double	goalx,
		double	goaly,
		double	goaltheta,
		double	goalcartangle,
		double	goaltol_x,
		double	goaltol_y,
		double	goaltol_theta,
		double	goaltol_cartangle,
		const vector< sbpl_2Dpt_t > &	perimeterptsV,
		const sbpl_2Dpt_t &	cart_offset,
		const vector< sbpl_2Dpt_t > &	cartptsV,
		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 2039 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::InitializeEnvConfig ( vector< SBPL_xythetacart_mprimitive > * motionprimitiveV ) [protected]

Definition at line 1442 of file environment_cart_planner.cpp.

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

Implemented in EnvironmentNAVXYTHETACARTLAT.

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

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 2189 of file environment_cart_planner.cpp.

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

returns true if cell is untraversable

Definition at line 2296 of file environment_cart_planner.cpp.

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

Definition at line 1494 of file environment_cart_planner.cpp.

bool EnvironmentNAVXYTHETACARTLATTICE::IsValidConfiguration	(	int	X,
		int	Y,
		int	Theta,
		int	CartAngle
	)

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

Definition at line 1507 of file environment_cart_planner.cpp.

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

returns true if cell is within map

Definition at line 1501 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::PrecomputeActions ( ) [protected]

Definition at line 1312 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::PrecomputeActionswithBaseMotionPrimitive ( vector< SBPL_xythetacart_mprimitive > * motionprimitiveV ) [protected]

Definition at line 973 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::PrecomputeActionswithCompleteMotionPrimitive ( vector< SBPL_xythetacart_mprimitive > * motionprimitiveV ) [protected]

Definition at line 1101 of file environment_cart_planner.cpp.

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

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 2275 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::PrintFootprint ( ) [protected]

Definition at line 2112 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::PrintHeuristicValues ( ) [protected]

Definition at line 2199 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::PrintTimeStat ( FILE * fOut )

prints time statistics

Definition at line 2284 of file environment_cart_planner.cpp.

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

prints environment variables for debugging

Reimplemented in EnvironmentNAVXYTHETACARTLAT.

Definition at line 348 of file environment_cart_planner.h.

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

Definition at line 265 of file environment_cart_planner.cpp.

bool EnvironmentNAVXYTHETACARTLATTICE::ReadinCell	(	EnvNAVXYTHETACARTLAT3Dcell_t *	cell,
		FILE *	fIn
	)		`[protected]`

Definition at line 620 of file environment_cart_planner.cpp.

bool EnvironmentNAVXYTHETACARTLATTICE::ReadinMotionPrimitive	(	SBPL_xythetacart_mprimitive *	pMotPrim,
		FILE *	fIn
	)		`[protected]`

Definition at line 668 of file environment_cart_planner.cpp.

bool EnvironmentNAVXYTHETACARTLATTICE::ReadinPose	(	EnvNAVXYTHETACARTLAT3Dpt_t *	pose,
		FILE *	fIn
	)		`[protected]`

Definition at line 645 of file environment_cart_planner.cpp.

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

Definition at line 778 of file environment_cart_planner.cpp.

void EnvironmentNAVXYTHETACARTLATTICE::RemoveSourceFootprint	(	EnvNAVXYTHETACARTLAT3Dpt_t	sourcepose,
		vector< sbpl_2Dcell_t > *	footprint
	)		`[protected]`

Definition at line 1876 of file environment_cart_planner.cpp.

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

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Implemented in EnvironmentNAVXYTHETACARTLAT.

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

see comments on the same function in the parent class

Implements DiscreteSpaceInformation.

Definition at line 2235 of file environment_cart_planner.cpp.

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