Public Member Functions | Private Attributes | Static Private Attributes
ompl_visual_tools::RRTDemo Class Reference

SimpleSetup demo class. More...

List of all members.

Public Member Functions

void chooseStartGoal (ob::ScopedState<> &start, ob::ScopedState<> &goal)
void deleteAllMakers ()
 Clear all markers displayed in Rviz.
void findValidState (ob::ScopedState<> &state)
void findValidState (ob::State *state, const ob::State *near, const double distance)
og::SimpleSetupPtr getSimpleSetup ()
 Allow access to simple_setup framework.
void loadCostMapImage (std::string image_path, double max_cost_threshold_percent=0.4)
 Load cost map from file.
bool plan (const int &run_id, const int &runs)
 Solve a planning proble that we randomly make up.
void publishCostMapImage ()
void publishPlannerData (bool just_path)
 Show the planner data in Rviz.
 RRTDemo (bool verbose, bool use_visuals)
 ~RRTDemo ()

Private Attributes

ompl::base::CostMap2DOptimizationObjectivePtr cost_map_
< ompl::base::PathLengthOptimizationObjective > 
ompl::base::SpaceInformationPtr si_
og::SimpleSetupPtr simple_setup_
ob::StateSpacePtr space_
bool use_visuals_
bool verbose_
ompl_visual_tools::OmplVisualToolsPtr visual_tools_

Static Private Attributes

static const unsigned int DIMENSIONS = 2

Detailed Description

SimpleSetup demo class.

Definition at line 72 of file rrt_demo.cpp.

Constructor & Destructor Documentation

ompl_visual_tools::RRTDemo::RRTDemo ( bool  verbose,
bool  use_visuals 
) [inline]


Definition at line 108 of file rrt_demo.cpp.


Definition at line 138 of file rrt_demo.cpp.

Member Function Documentation

void ompl_visual_tools::RRTDemo::chooseStartGoal ( ob::ScopedState<> &  start,
ob::ScopedState<> &  goal 
) [inline]

Definition at line 291 of file rrt_demo.cpp.

Clear all markers displayed in Rviz.

Definition at line 145 of file rrt_demo.cpp.

void ompl_visual_tools::RRTDemo::findValidState ( ob::ScopedState<> &  state) [inline]

Definition at line 357 of file rrt_demo.cpp.

void ompl_visual_tools::RRTDemo::findValidState ( ob::State *  state,
const ob::State *  near,
const double  distance 
) [inline]

Definition at line 374 of file rrt_demo.cpp.

og::SimpleSetupPtr ompl_visual_tools::RRTDemo::getSimpleSetup ( ) [inline]

Allow access to simple_setup framework.

Definition at line 440 of file rrt_demo.cpp.

void ompl_visual_tools::RRTDemo::loadCostMapImage ( std::string  image_path,
double  max_cost_threshold_percent = 0.4 
) [inline]

Load cost map from file.

howmuch of the peaks of the mountains are considered obstacles

Definition at line 156 of file rrt_demo.cpp.

bool ompl_visual_tools::RRTDemo::plan ( const int &  run_id,
const int &  runs 
) [inline]

Solve a planning proble that we randomly make up.

run_id- which run this is
runs- how many total runs we will do
true on success

Definition at line 209 of file rrt_demo.cpp.

Definition at line 197 of file rrt_demo.cpp.

void ompl_visual_tools::RRTDemo::publishPlannerData ( bool  just_path) [inline]

Show the planner data in Rviz.

just_path- if true, do not display the search tree/graph or the samples

Definition at line 397 of file rrt_demo.cpp.

Member Data Documentation

Definition at line 80 of file rrt_demo.cpp.

const unsigned int ompl_visual_tools::RRTDemo::DIMENSIONS = 2 [static, private]

Definition at line 89 of file rrt_demo.cpp.

boost::shared_ptr<ompl::base::PathLengthOptimizationObjective> ompl_visual_tools::RRTDemo::path_length_objective_ [private]

Definition at line 83 of file rrt_demo.cpp.

ompl::base::SpaceInformationPtr ompl_visual_tools::RRTDemo::si_ [private]

Definition at line 95 of file rrt_demo.cpp.

og::SimpleSetupPtr ompl_visual_tools::RRTDemo::simple_setup_ [private]

Definition at line 77 of file rrt_demo.cpp.

ob::StateSpacePtr ompl_visual_tools::RRTDemo::space_ [private]

Definition at line 92 of file rrt_demo.cpp.

Definition at line 101 of file rrt_demo.cpp.

Definition at line 98 of file rrt_demo.cpp.

Definition at line 86 of file rrt_demo.cpp.

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

Author(s): Dave Coleman
autogenerated on Thu Jun 6 2019 21:13:31