#include <riskrrt.hpp>

Public Member Functions
Node *	chooseBestNode (custom_pose goal)
custom_pose	chooseRandomGoal ()
double	computeControlScore (custom_pose expected_pose, custom_pose random_goal)
double	computeNodeRisk (Node *node)
double	computeNodeWeight (Node *node, custom_pose goal)
void	controllerFeedbackCallback (const std_msgs::Bool::ConstPtr &msg)
void	deleteUnreachableNodes (Node *new_root)
vector< Control >	discretizeVelocities (Node *node)
void	extend (Node *node, custom_pose random_goal)
void	findPath ()
void	goalCallback (const geometry_msgs::PoseStamped::ConstPtr &msg)
int	gridIFromIndex (int index)
int	gridIFromPose (custom_pose pose)
int	gridIndexFromCoord (int i, int j)
int	gridIndexFromPose (custom_pose pose)
int	gridJFromIndex (int index)
int	gridJFromPose (custom_pose pose)
void	grow ()
void	grow_to_goal (Node *best_node, custom_pose goal)
void	init ()
void	initcontrollerFeedbackSub ()
void	initGoalSub ()
void	initOdomSub ()
void	initOgArraySub ()
void	initPoseSub ()
bool	isGoalReached ()
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
void	ogArrayCallback (const riskrrt::OccupancyGridArray::ConstPtr &msg)
void	poseCallback (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &msg)
custom_pose	poseFromGridCoord (int i, int j)
custom_pose	poseFromGridIndex (int index)
custom_pose	robotKinematic (custom_pose pose, Control control)
	RRT (Params params)
double	trajLength (custom_pose pose, custom_pose goal)
void	update ()
void	updateNodes ()
	~RRT ()
Public Attributes
Node *	best_node
vector< Node * >	candidate_nodes
ros::Subscriber	controllerFeedbackSubscriber
custom_pose	final_goal
bool	goal_received
ros::Subscriber	goalSubscriber
visualization_msgs::MarkerArray	node_markers
ros::NodeHandle	nodeHandle
ros::Subscriber	odomSubscriber
riskrrt::OccupancyGridArray	og_array
ros::Subscriber	ogArraySubscriber
Params	params
visualization_msgs::MarkerArray	path_markers
ros::Subscriber	poseSubscriber
bool	robot_on_traj
custom_pose	robot_pose
geometry_msgs::Twist	robot_vel
Node *	root
vector< Node * >	traj
riskrrt::Trajectory	traj_msg

Detailed Description

Definition at line 64 of file riskrrt.hpp.

Constructor & Destructor Documentation

RRT::RRT ( Params params )

Definition at line 7 of file riskrrt.cpp.

RRT::~RRT ( )

Definition at line 12 of file riskrrt.cpp.

Member Function Documentation

Node * RRT::chooseBestNode ( custom_pose goal )

Definition at line 398 of file riskrrt.cpp.

custom_pose RRT::chooseRandomGoal ( )

Definition at line 242 of file riskrrt.cpp.

double RRT::computeControlScore	(	custom_pose	expected_pose,
		custom_pose	random_goal
	)

Definition at line 187 of file riskrrt.cpp.

double RRT::computeNodeRisk ( Node * node )

Definition at line 113 of file riskrrt.cpp.

double RRT::computeNodeWeight	(	Node *	node,
		custom_pose	goal
	)

Definition at line 18 of file riskrrt.cpp.

void RRT::controllerFeedbackCallback ( const std_msgs::Bool::ConstPtr & msg )

Definition at line 605 of file riskrrt.cpp.

void RRT::deleteUnreachableNodes ( Node * new_root )

Definition at line 374 of file riskrrt.cpp.

vector< Control > RRT::discretizeVelocities ( Node * node )

Definition at line 487 of file riskrrt.cpp.

void RRT::extend	(	Node *	node,
		custom_pose	random_goal
	)

Definition at line 59 of file riskrrt.cpp.

void RRT::findPath ( )

Definition at line 422 of file riskrrt.cpp.

void RRT::goalCallback ( const geometry_msgs::PoseStamped::ConstPtr & msg )

Definition at line 639 of file riskrrt.cpp.

int RRT::gridIFromIndex ( int index )

Definition at line 576 of file riskrrt.cpp.

int RRT::gridIFromPose ( custom_pose pose )

Definition at line 564 of file riskrrt.cpp.

int RRT::gridIndexFromCoord	(	int	i,
		int	j
	)

Definition at line 572 of file riskrrt.cpp.

int RRT::gridIndexFromPose ( custom_pose pose )

Definition at line 556 of file riskrrt.cpp.

int RRT::gridJFromIndex ( int index )

Definition at line 580 of file riskrrt.cpp.

int RRT::gridJFromPose ( custom_pose pose )

Definition at line 568 of file riskrrt.cpp.

void RRT::grow ( )

Definition at line 222 of file riskrrt.cpp.

void RRT::grow_to_goal	(	Node *	best_node,
		custom_pose	goal
	)

Definition at line 237 of file riskrrt.cpp.

void RRT::init ( )

Definition at line 198 of file riskrrt.cpp.

void RRT::initcontrollerFeedbackSub ( )

Definition at line 609 of file riskrrt.cpp.

void RRT::initGoalSub ( )

Definition at line 646 of file riskrrt.cpp.

void RRT::initOdomSub ( )

Definition at line 625 of file riskrrt.cpp.

void RRT::initOgArraySub ( )

Definition at line 617 of file riskrrt.cpp.

void RRT::initPoseSub ( )

Definition at line 635 of file riskrrt.cpp.

bool RRT::isGoalReached ( )

Definition at line 481 of file riskrrt.cpp.

void RRT::odomCallback ( const nav_msgs::Odometry::ConstPtr & msg )

Definition at line 621 of file riskrrt.cpp.

void RRT::ogArrayCallback ( const riskrrt::OccupancyGridArray::ConstPtr & msg )

Definition at line 613 of file riskrrt.cpp.

void RRT::poseCallback ( const geometry_msgs::PoseWithCovarianceStamped::ConstPtr & msg )

Definition at line 629 of file riskrrt.cpp.

custom_pose RRT::poseFromGridCoord	(	int	i,
		int	j
	)

Definition at line 595 of file riskrrt.cpp.

custom_pose RRT::poseFromGridIndex ( int index )

Definition at line 584 of file riskrrt.cpp.

custom_pose RRT::robotKinematic	(	custom_pose	pose,
		Control	control
	)

Definition at line 526 of file riskrrt.cpp.

double RRT::trajLength	(	custom_pose	pose,
		custom_pose	goal
	)

Definition at line 28 of file riskrrt.cpp.

void RRT::update ( )

Definition at line 274 of file riskrrt.cpp.

void RRT::updateNodes ( )

Definition at line 312 of file riskrrt.cpp.

Member Data Documentation

Node* RRT::best_node

Definition at line 72 of file riskrrt.hpp.

vector<Node*> RRT::candidate_nodes

Definition at line 73 of file riskrrt.hpp.

ros::Subscriber RRT::controllerFeedbackSubscriber

Definition at line 85 of file riskrrt.hpp.

custom_pose RRT::final_goal

Definition at line 74 of file riskrrt.hpp.

bool RRT::goal_received

Definition at line 75 of file riskrrt.hpp.

ros::Subscriber RRT::goalSubscriber

Definition at line 88 of file riskrrt.hpp.

visualization_msgs::MarkerArray RRT::node_markers

Definition at line 82 of file riskrrt.hpp.

ros::NodeHandle RRT::nodeHandle

Definition at line 68 of file riskrrt.hpp.

ros::Subscriber RRT::odomSubscriber

Definition at line 89 of file riskrrt.hpp.

riskrrt::OccupancyGridArray RRT::og_array

Definition at line 77 of file riskrrt.hpp.

ros::Subscriber RRT::ogArraySubscriber

Definition at line 86 of file riskrrt.hpp.

Params RRT::params

Definition at line 80 of file riskrrt.hpp.

visualization_msgs::MarkerArray RRT::path_markers

Definition at line 83 of file riskrrt.hpp.

ros::Subscriber RRT::poseSubscriber

Definition at line 87 of file riskrrt.hpp.

bool RRT::robot_on_traj

Definition at line 76 of file riskrrt.hpp.

custom_pose RRT::robot_pose

Definition at line 69 of file riskrrt.hpp.

geometry_msgs::Twist RRT::robot_vel

Definition at line 70 of file riskrrt.hpp.

Node* RRT::root

Definition at line 71 of file riskrrt.hpp.

vector<Node*> RRT::traj

Definition at line 79 of file riskrrt.hpp.

riskrrt::Trajectory RRT::traj_msg

Definition at line 78 of file riskrrt.hpp.

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation