#include <sparse_planner.h>
Public Types | |
| typedef std::vector < std::tuple< int, descartes_core::TrajectoryPtPtr, descartes_trajectory::JointTrajectoryPt > > | SolutionArray |
Public Member Functions | |
| virtual bool | addAfter (const descartes_core::TrajectoryPt::ID &ref_id, descartes_core::TrajectoryPtPtr cp) |
| virtual bool | addBefore (const descartes_core::TrajectoryPt::ID &ref_id, descartes_core::TrajectoryPtPtr cp) |
| virtual void | getConfig (descartes_core::PlannerConfig &config) const |
| virtual int | getErrorCode () const |
| virtual bool | getErrorMessage (int error_code, std::string &msg) const |
| virtual bool | getPath (std::vector< descartes_core::TrajectoryPtPtr > &path) const |
| const std::map < descartes_core::TrajectoryPt::ID, descartes_trajectory::JointTrajectoryPt > & | getSolution () |
| bool | getSolutionJointPoint (const descartes_trajectory::CartTrajectoryPt::ID &cart_id, descartes_trajectory::JointTrajectoryPt &j) |
| virtual bool | initialize (descartes_core::RobotModelConstPtr model) |
| virtual bool | initialize (descartes_core::RobotModelConstPtr model, descartes_planner::CostFunction cost_function_callback) |
| virtual bool | modify (const descartes_core::TrajectoryPt::ID &ref_id, descartes_core::TrajectoryPtPtr cp) |
| virtual bool | planPath (const std::vector< descartes_core::TrajectoryPtPtr > &traj) |
| virtual bool | remove (const descartes_core::TrajectoryPt::ID &ref_id) |
| virtual bool | setConfig (const descartes_core::PlannerConfig &config) |
| void | setSampling (double sampling) |
| SparsePlanner (descartes_core::RobotModelConstPtr model, double sampling=0.1f) | |
| SparsePlanner () | |
| virtual | ~SparsePlanner () |
Protected Types | |
| enum | InterpolationResult { ERROR = -1, REPLAN, SUCCESS } |
Protected Member Functions | |
| bool | checkJointChanges (const std::vector< double > &s1, const std::vector< double > &s2, const double &max_change) |
| int | findNearestSparsePointIndex (const descartes_core::TrajectoryPt::ID &ref_id, bool skip_equal=true) |
| int | getDensePointIndex (const descartes_core::TrajectoryPt::ID &ref_id) |
| bool | getOrderedSparseArray (std::vector< descartes_core::TrajectoryPtPtr > &sparse_array) |
| int | getSparsePointIndex (const descartes_core::TrajectoryPt::ID &ref_id) |
| bool | getSparseSolutionArray (SolutionArray &sparse_solution_array) |
| bool | interpolateJointPose (const std::vector< double > &start, const std::vector< double > &end, double t, std::vector< double > &interp) |
| int | interpolateSparseTrajectory (const SolutionArray &sparse_solution, int &sparse_index, int &point_pos) |
| bool | isInSparseTrajectory (const descartes_core::TrajectoryPt::ID &ref_id) |
| bool | plan () |
| void | sampleTrajectory (double sampling, const std::vector< descartes_core::TrajectoryPtPtr > &dense_trajectory_array, std::vector< descartes_core::TrajectoryPtPtr > &sparse_trajectory_array) |
Protected Attributes | |
| std::vector < descartes_core::TrajectoryPtPtr > | cart_points_ |
| descartes_core::PlannerConfig | config_ |
| int | error_code_ |
| std::map< int, std::string > | error_map_ |
| std::map < descartes_core::TrajectoryPt::ID, descartes_trajectory::JointTrajectoryPt > | joint_points_map_ |
| boost::shared_ptr< PlanningGraph > | planning_graph_ |
| double | sampling_ |
| SolutionArray | sparse_solution_array_ |
| std::vector < descartes_core::TimingConstraint > | timing_cache_ |
Detailed Description
Definition at line 34 of file sparse_planner.h.
Member Typedef Documentation
| typedef std::vector<std::tuple<int, descartes_core::TrajectoryPtPtr, descartes_trajectory::JointTrajectoryPt> > descartes_planner::SparsePlanner::SolutionArray |
Definition at line 38 of file sparse_planner.h.
Member Enumeration Documentation
enum descartes_planner::SparsePlanner::InterpolationResult [protected] |
Definition at line 82 of file sparse_planner.h.
Constructor & Destructor Documentation
| descartes_planner::SparsePlanner::SparsePlanner | ( | descartes_core::RobotModelConstPtr | model, |
| double | sampling = 0.1f |
||
| ) |
Definition at line 78 of file src/sparse_planner.cpp.
| descartes_planner::SparsePlanner::~SparsePlanner | ( | ) | [virtual] |
Definition at line 142 of file src/sparse_planner.cpp.
Member Function Documentation
| bool descartes_planner::SparsePlanner::addAfter | ( | const descartes_core::TrajectoryPt::ID & | ref_id, |
| descartes_core::TrajectoryPtPtr | cp | ||
| ) | [virtual] |
Definition at line 184 of file src/sparse_planner.cpp.
| bool descartes_planner::SparsePlanner::addBefore | ( | const descartes_core::TrajectoryPt::ID & | ref_id, |
| descartes_core::TrajectoryPtPtr | cp | ||
| ) | [virtual] |
Definition at line 229 of file src/sparse_planner.cpp.
| bool descartes_planner::SparsePlanner::checkJointChanges | ( | const std::vector< double > & | s1, |
| const std::vector< double > & | s2, | ||
| const double & | max_change | ||
| ) | [protected] |
Definition at line 741 of file src/sparse_planner.cpp.
| int descartes_planner::SparsePlanner::findNearestSparsePointIndex | ( | const descartes_core::TrajectoryPt::ID & | ref_id, |
| bool | skip_equal = true |
||
| ) | [protected] |
Definition at line 402 of file src/sparse_planner.cpp.
| void descartes_planner::SparsePlanner::getConfig | ( | descartes_core::PlannerConfig & | config | ) | const [virtual] |
Implements descartes_core::PathPlannerBase.
Definition at line 137 of file src/sparse_planner.cpp.
| int descartes_planner::SparsePlanner::getDensePointIndex | ( | const descartes_core::TrajectoryPt::ID & | ref_id | ) | [protected] |
Definition at line 368 of file src/sparse_planner.cpp.
| int descartes_planner::SparsePlanner::getErrorCode | ( | ) | const [virtual] |
Implements descartes_core::PathPlannerBase.
Definition at line 565 of file src/sparse_planner.cpp.
| bool descartes_planner::SparsePlanner::getErrorMessage | ( | int | error_code, |
| std::string & | msg | ||
| ) | const [virtual] |
Implements descartes_core::PathPlannerBase.
Definition at line 570 of file src/sparse_planner.cpp.
| bool descartes_planner::SparsePlanner::getOrderedSparseArray | ( | std::vector< descartes_core::TrajectoryPtPtr > & | sparse_array | ) | [protected] |
Definition at line 487 of file src/sparse_planner.cpp.
| bool descartes_planner::SparsePlanner::getPath | ( | std::vector< descartes_core::TrajectoryPtPtr > & | path | ) | const [virtual] |
Definition at line 546 of file src/sparse_planner.cpp.
| const std::map<descartes_core::TrajectoryPt::ID, descartes_trajectory::JointTrajectoryPt>& descartes_planner::SparsePlanner::getSolution | ( | ) |
| bool descartes_planner::SparsePlanner::getSolutionJointPoint | ( | const descartes_trajectory::CartTrajectoryPt::ID & | cart_id, |
| descartes_trajectory::JointTrajectoryPt & | j | ||
| ) |
Definition at line 531 of file src/sparse_planner.cpp.
| int descartes_planner::SparsePlanner::getSparsePointIndex | ( | const descartes_core::TrajectoryPt::ID & | ref_id | ) | [protected] |
Definition at line 385 of file src/sparse_planner.cpp.
| bool descartes_planner::SparsePlanner::getSparseSolutionArray | ( | SolutionArray & | sparse_solution_array | ) | [protected] |
Definition at line 438 of file src/sparse_planner.cpp.
| virtual bool descartes_planner::SparsePlanner::initialize | ( | descartes_core::RobotModelConstPtr | model | ) | [virtual] |
| virtual bool descartes_planner::SparsePlanner::initialize | ( | descartes_core::RobotModelConstPtr | model, |
| descartes_planner::CostFunction | cost_function_callback | ||
| ) | [virtual] |
| bool descartes_planner::SparsePlanner::interpolateJointPose | ( | const std::vector< double > & | start, |
| const std::vector< double > & | end, | ||
| double | t, | ||
| std::vector< double > & | interp | ||
| ) | [protected] |
Definition at line 630 of file src/sparse_planner.cpp.
| int descartes_planner::SparsePlanner::interpolateSparseTrajectory | ( | const SolutionArray & | sparse_solution, |
| int & | sparse_index, | ||
| int & | point_pos | ||
| ) | [protected] |
Definition at line 761 of file src/sparse_planner.cpp.
| bool descartes_planner::SparsePlanner::isInSparseTrajectory | ( | const descartes_core::TrajectoryPt::ID & | ref_id | ) | [protected] |
Definition at line 357 of file src/sparse_planner.cpp.
| bool descartes_planner::SparsePlanner::modify | ( | const descartes_core::TrajectoryPt::ID & | ref_id, |
| descartes_core::TrajectoryPtPtr | cp | ||
| ) | [virtual] |
Definition at line 312 of file src/sparse_planner.cpp.
| bool descartes_planner::SparsePlanner::plan | ( | ) | [protected] |
Definition at line 655 of file src/sparse_planner.cpp.
| bool descartes_planner::SparsePlanner::planPath | ( | const std::vector< descartes_core::TrajectoryPtPtr > & | traj | ) | [virtual] |
Definition at line 151 of file src/sparse_planner.cpp.
| bool descartes_planner::SparsePlanner::remove | ( | const descartes_core::TrajectoryPt::ID & | ref_id | ) | [virtual] |
Implements descartes_core::PathPlannerBase.
Definition at line 273 of file src/sparse_planner.cpp.
| void descartes_planner::SparsePlanner::sampleTrajectory | ( | double | sampling, |
| const std::vector< descartes_core::TrajectoryPtPtr > & | dense_trajectory_array, | ||
| std::vector< descartes_core::TrajectoryPtPtr > & | sparse_trajectory_array | ||
| ) | [protected] |
Definition at line 585 of file src/sparse_planner.cpp.
| bool descartes_planner::SparsePlanner::setConfig | ( | const descartes_core::PlannerConfig & | config | ) | [virtual] |
Implements descartes_core::PathPlannerBase.
Definition at line 106 of file src/sparse_planner.cpp.
| void descartes_planner::SparsePlanner::setSampling | ( | double | sampling | ) |
Definition at line 146 of file src/sparse_planner.cpp.
Member Data Documentation
std::vector<descartes_core::TrajectoryPtPtr> descartes_planner::SparsePlanner::cart_points_ [protected] |
Definition at line 94 of file sparse_planner.h.
Definition at line 92 of file sparse_planner.h.
int descartes_planner::SparsePlanner::error_code_ [protected] |
Definition at line 90 of file sparse_planner.h.
std::map<int, std::string> descartes_planner::SparsePlanner::error_map_ [protected] |
Definition at line 91 of file sparse_planner.h.
std::map<descartes_core::TrajectoryPt::ID, descartes_trajectory::JointTrajectoryPt> descartes_planner::SparsePlanner::joint_points_map_ [protected] |
Definition at line 96 of file sparse_planner.h.
boost::shared_ptr<PlanningGraph> descartes_planner::SparsePlanner::planning_graph_ [protected] |
Definition at line 93 of file sparse_planner.h.
double descartes_planner::SparsePlanner::sampling_ [protected] |
Definition at line 89 of file sparse_planner.h.
Definition at line 95 of file sparse_planner.h.
std::vector<descartes_core::TimingConstraint> descartes_planner::SparsePlanner::timing_cache_ [protected] |
Definition at line 97 of file sparse_planner.h.
The documentation for this class was generated from the following files: