#include <planning_graph.h>
Public Member Functions | |
| bool | addTrajectory (descartes_core::TrajectoryPtPtr point, descartes_core::TrajectoryPt::ID previous_id, descartes_core::TrajectoryPt::ID next_id) |
| adds a single trajectory point to the graph | |
| CartesianMap | getCartesianMap () |
| bool | getCartesianTrajectory (std::vector< descartes_core::TrajectoryPtPtr > &traj) |
| descartes_core::RobotModelConstPtr | getRobotModel () |
| bool | getShortestPath (double &cost, std::list< descartes_trajectory::JointTrajectoryPt > &path) |
| Calculate and return the shortest path from the given joint solution indices. | |
| bool | insertGraph (const std::vector< descartes_core::TrajectoryPtPtr > *points) |
| initial population of graph trajectory elements | |
| bool | modifyTrajectory (descartes_core::TrajectoryPtPtr point) |
| PlanningGraph (descartes_core::RobotModelConstPtr model) | |
| void | printGraph () |
| Utility function for printing the graph to the console NOTE: should add other formats for output. | |
| void | printMaps () |
| bool | removeTrajectory (descartes_core::TrajectoryPtPtr point) |
| virtual | ~PlanningGraph () |
Protected Types | |
| typedef std::pair< bool, double > | LinearWeightResult |
| A pair indicating the validity of the edge, and if valid, the cost associated with that edge. | |
Protected Member Functions | |
| bool | calculateAllEdgeWeights (std::list< JointEdge > &edges) |
| (Re)populate the edge list for the graph from the list of joint solutions | |
| bool | calculateEdgeWeights (const std::list< descartes_core::TrajectoryPt::ID > &start_joints, const std::list< descartes_core::TrajectoryPt::ID > &end_joints, std::list< JointEdge > &edge_results) |
| calculate weights fro each start point to each end point | |
| bool | calculateJointSolutions () |
| (Re)create the list of joint solutions from the given descartes_core::TrajectoryPt list | |
| bool | findEndVertices (std::list< JointGraph::vertex_descriptor > &end_points) |
| simple function to iterate over all graph vertices to find ones that do not have an outgoing edge | |
| bool | findStartVertices (std::list< JointGraph::vertex_descriptor > &start_points) |
| simple function to iterate over all graph vertices to find ones that do not have an incoming edge | |
| LinearWeightResult | linearWeight (const descartes_trajectory::JointTrajectoryPt &start, const descartes_trajectory::JointTrajectoryPt &end) const |
| simple function for getting edge weights based on linear vector differences | |
| bool | populateGraphEdges (const std::list< JointEdge > &edges) |
| (Re)create the actual graph structure from the list of transition costs (edges) | |
| bool | populateGraphVertices () |
| (Re)create the actual graph nodes(vertices) from the list of joint solutions (vertices) | |
| int | recalculateJointSolutionsVertexMap (std::map< descartes_core::TrajectoryPt::ID, JointGraph::vertex_descriptor > &joint_vertex_map) |
Protected Attributes | |
| std::map < descartes_core::TrajectoryPt::ID, CartesianPointInformation > * | cartesian_point_link_ |
| JointGraph | dg_ |
| std::map < descartes_core::TrajectoryPt::ID, descartes_trajectory::JointTrajectoryPt > | joint_solutions_map_ |
| descartes_core::RobotModelConstPtr | robot_model_ |
Definition at line 78 of file planning_graph.h.
typedef std::pair<bool, double> descartes_planner::PlanningGraph::LinearWeightResult [protected] |
A pair indicating the validity of the edge, and if valid, the cost associated with that edge.
Definition at line 137 of file planning_graph.h.
| descartes_planner::PlanningGraph::PlanningGraph | ( | descartes_core::RobotModelConstPtr | model | ) |
Definition at line 44 of file planning_graph.cpp.
| descartes_planner::PlanningGraph::~PlanningGraph | ( | ) | [virtual] |
Definition at line 49 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::addTrajectory | ( | descartes_core::TrajectoryPtPtr | point, |
| descartes_core::TrajectoryPt::ID | previous_id, | ||
| descartes_core::TrajectoryPt::ID | next_id | ||
| ) |
adds a single trajectory point to the graph
| point | The new point to add to the graph |
Definition at line 176 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::calculateAllEdgeWeights | ( | std::list< JointEdge > & | edges | ) | [protected] |
(Re)populate the edge list for the graph from the list of joint solutions
Definition at line 847 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::calculateEdgeWeights | ( | const std::list< descartes_core::TrajectoryPt::ID > & | start_joints, |
| const std::list< descartes_core::TrajectoryPt::ID > & | end_joints, | ||
| std::list< JointEdge > & | edge_results | ||
| ) | [protected] |
calculate weights fro each start point to each end point
Definition at line 898 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::calculateJointSolutions | ( | ) | [protected] |
(Re)create the list of joint solutions from the given descartes_core::TrajectoryPt list
Definition at line 804 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::findEndVertices | ( | std::list< JointGraph::vertex_descriptor > & | end_points | ) | [protected] |
simple function to iterate over all graph vertices to find ones that do not have an outgoing edge
Definition at line 602 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::findStartVertices | ( | std::list< JointGraph::vertex_descriptor > & | start_points | ) | [protected] |
simple function to iterate over all graph vertices to find ones that do not have an incoming edge
Definition at line 562 of file planning_graph.cpp.
Definition at line 54 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::getCartesianTrajectory | ( | std::vector< descartes_core::TrajectoryPtPtr > & | traj | ) |
| descartes_core::RobotModelConstPtr descartes_planner::PlanningGraph::getRobotModel | ( | ) |
Definition at line 81 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::getShortestPath | ( | double & | cost, |
| std::list< descartes_trajectory::JointTrajectoryPt > & | path | ||
| ) |
Calculate and return the shortest path from the given joint solution indices.
| startIndex | The index of the joint solution at which to start |
| endIndex | The index of the joint solution at which to end |
| cost | The cost of the returned path |
| path | The sequence of points (joint solutions) for the path (TODO: change to JointTrajectoryPt?) |
Definition at line 643 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::insertGraph | ( | const std::vector< descartes_core::TrajectoryPtPtr > * | points | ) |
initial population of graph trajectory elements
| points | list of trajectory points to be used to construct the graph |
Definition at line 86 of file planning_graph.cpp.
| PlanningGraph::LinearWeightResult descartes_planner::PlanningGraph::linearWeight | ( | const descartes_trajectory::JointTrajectoryPt & | start, |
| const descartes_trajectory::JointTrajectoryPt & | end | ||
| ) | const [protected] |
simple function for getting edge weights based on linear vector differences
Definition at line 993 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::modifyTrajectory | ( | descartes_core::TrajectoryPtPtr | point | ) |
Definition at line 304 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::populateGraphEdges | ( | const std::list< JointEdge > & | edges | ) | [protected] |
(Re)create the actual graph structure from the list of transition costs (edges)
Definition at line 965 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::populateGraphVertices | ( | ) | [protected] |
(Re)create the actual graph nodes(vertices) from the list of joint solutions (vertices)
Definition at line 946 of file planning_graph.cpp.
Utility function for printing the graph to the console NOTE: should add other formats for output.
Definition at line 746 of file planning_graph.cpp.
Definition at line 722 of file planning_graph.cpp.
| int descartes_planner::PlanningGraph::recalculateJointSolutionsVertexMap | ( | std::map< descartes_core::TrajectoryPt::ID, JointGraph::vertex_descriptor > & | joint_vertex_map | ) | [protected] |
Definition at line 734 of file planning_graph.cpp.
| bool descartes_planner::PlanningGraph::removeTrajectory | ( | descartes_core::TrajectoryPtPtr | point | ) |
Definition at line 451 of file planning_graph.cpp.
std::map<descartes_core::TrajectoryPt::ID, CartesianPointInformation>* descartes_planner::PlanningGraph::cartesian_point_link_ [protected] |
Definition at line 147 of file planning_graph.h.
JointGraph descartes_planner::PlanningGraph::dg_ [protected] |
Definition at line 129 of file planning_graph.h.
std::map<descartes_core::TrajectoryPt::ID, descartes_trajectory::JointTrajectoryPt> descartes_planner::PlanningGraph::joint_solutions_map_ [protected] |
Definition at line 151 of file planning_graph.h.
descartes_core::RobotModelConstPtr descartes_planner::PlanningGraph::robot_model_ [protected] |
Definition at line 127 of file planning_graph.h.