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)
	Constructor.
	~RRTDemo ()
	Deconstructor.
Private Attributes
ompl::base::CostMap2DOptimizationObjectivePtr	cost_map_
boost::shared_ptr < ompl::base::PathLengthOptimizationObjective >	path_length_objective_
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]

Constructor.

Definition at line 108 of file rrt_demo.cpp.

ompl_visual_tools::RRTDemo::~RRTDemo

(

)

[inline]

Deconstructor.

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.

void ompl_visual_tools::RRTDemo::deleteAllMakers

(

)

[inline]

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.

Parameters:

file	path
how	much 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.

Parameters:

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

Returns:

true on success

Definition at line 209 of file rrt_demo.cpp.

void ompl_visual_tools::RRTDemo::publishCostMapImage

(

)

[inline]

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.

Parameters:

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

ompl::base::CostMap2DOptimizationObjectivePtr ompl_visual_tools::RRTDemo::cost_map_ [private]

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.

bool ompl_visual_tools::RRTDemo::use_visuals_ [private]

Definition at line 101 of file rrt_demo.cpp.

bool ompl_visual_tools::RRTDemo::verbose_ [private]

Definition at line 98 of file rrt_demo.cpp.

ompl_visual_tools::OmplVisualToolsPtr ompl_visual_tools::RRTDemo::visual_tools_ [private]

Definition at line 86 of file rrt_demo.cpp.

---

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

• rrt_demo.cpp