A class representing the robot's pose (i.e. position and orientation) in the underlying SBPL. More precisely a planning state is a discrete representation of the robot's supporting leg. More...

#include <planning_state.h>

Public Types
typedef boost::shared_ptr < const PlanningState >	ConstPtr
typedef boost::shared_ptr < PlanningState >	Ptr
Public Member Functions
unsigned int	getHashTag () const
int	getId () const
Leg	getLeg () const
const PlanningState *	getPredState () const
const State &	getState () const
	gets the continuous State the PlanningState represents.
State &	getState ()
double	getStepDuration () const
const PlanningState *	getSuccState () const
double	getSwayDuration () const
double	getSwingHeight () const
int	getX () const
int	getY () const
int	getYaw () const
bool	operator!= (const PlanningState &s2) const
	Compare two states on inequality of x, y, theta, leg by comparing the hash tags of the states.
bool	operator== (const PlanningState &s2) const
	Compare two states on equality of x, y, theta, leg. Makes first use of the non-unique hash tag to rule out unequal states.
	PlanningState (double x, double y, double z, double roll, double pitch, double yaw, Leg leg, double cell_size, double angle_bin_size, int max_hash_size, const PlanningState pred_state=nullptr, const PlanningState succ_state=nullptr)
	x, y and theta represent the global (continuous) position and orientation of the robot's support leg.
	PlanningState (int x, int y, double z, double roll, double pitch, int yaw, Leg leg, double cell_size, double angle_bin_size, int max_hash_size, const PlanningState pred_state=nullptr, const PlanningState succ_state=nullptr)
	x, y and theta as discrete bin values (as used internally by the planner).
	PlanningState (const geometry_msgs::Pose &pose, Leg leg, double cell_size, double angle_bin_size, int max_hash_size, const PlanningState pred_state=nullptr, const PlanningState succ_state=nullptr)
	PlanningState (const State &s, double cell_size, double angle_bin_size, int max_hash_size, const PlanningState pred_state=nullptr, const PlanningState succ_state=nullptr)
	Create a (discrete) PlanningState from a (continuous) State.
	PlanningState (const PlanningState &s)
	Copy constructor.
void	setId (unsigned int id)
	Used to attach such an unique ID to the planning state. (This cannot be done in the constructor since often such an ID is not known when the planning state is created.)
void	setPredState (const PlanningState *pred_state)
void	setSuccState (const PlanningState *succ_state)
	~PlanningState ()
Private Attributes
unsigned int	ivHashTag
int	ivId
	The (unique) ID of the planning state.
const PlanningState *	ivpPredState
const PlanningState *	ivpSuccState
State	ivState
	pointer to original state
int	ivX
	Value of the grid cell the position's x value is fitted into.
int	ivY
	Value of the grid cell the position's y value is fitted into.
int	ivYaw
	The robot's orientation.

Detailed Description

A class representing the robot's pose (i.e. position and orientation) in the underlying SBPL. More precisely a planning state is a discrete representation of the robot's supporting leg.

Since SBPL is working on discretized states the planning states are also discretized positions and orientations. This is done by fitting the positions into a grid and the orientations into bins. (NOTE: the resolution of the planning cells is likely to differ from the resolution of the grid map.)

The SBPL can access each planning state via an unique ID. Furthermore each planning state can be identified by an (ununique) hash tag generated from its position, location and supporting leg.

Definition at line 49 of file planning_state.h.

Member Typedef Documentation

typedef boost::shared_ptr<const PlanningState> vigir_footstep_planning::PlanningState::ConstPtr

Definition at line 54 of file planning_state.h.

typedef boost::shared_ptr<PlanningState> vigir_footstep_planning::PlanningState::Ptr

Definition at line 53 of file planning_state.h.

Constructor & Destructor Documentation

vigir_footstep_planning::PlanningState::PlanningState	(	double	x,
		double	y,
		double	z,
		double	roll,
		double	pitch,
		double	yaw,
		Leg	leg,
		double	cell_size,
		double	angle_bin_size,
		int	max_hash_size,
		const PlanningState *	pred_state = `nullptr`,
		const PlanningState *	succ_state = `nullptr`
	)

x, y and theta represent the global (continuous) position and orientation of the robot's support leg.

Parameters:

leg	The supporting leg.
cell_size	The size of each grid cell discretizing the position.
num_angle_bins	The number of bins discretizing the orientation.
max_hash_size

Definition at line 33 of file planning_state.cpp.

vigir_footstep_planning::PlanningState::PlanningState	(	int	x,
		int	y,
		double	z,
		double	roll,
		double	pitch,
		int	yaw,
		Leg	leg,
		double	cell_size,
		double	angle_bin_size,
		int	max_hash_size,
		const PlanningState *	pred_state = `nullptr`,
		const PlanningState *	succ_state = `nullptr`
	)

x, y and theta as discrete bin values (as used internally by the planner).

Definition at line 49 of file planning_state.cpp.

vigir_footstep_planning::PlanningState::PlanningState	(	const geometry_msgs::Pose &	pose,
		Leg	leg,
		double	cell_size,
		double	angle_bin_size,
		int	max_hash_size,
		const PlanningState *	pred_state = `nullptr`,
		const PlanningState *	succ_state = `nullptr`
	)

Definition at line 64 of file planning_state.cpp.

vigir_footstep_planning::PlanningState::PlanningState	(	const State &	s,
		double	cell_size,
		double	angle_bin_size,
		int	max_hash_size,
		const PlanningState *	pred_state = `nullptr`,
		const PlanningState *	succ_state = `nullptr`
	)

Create a (discrete) PlanningState from a (continuous) State.

Definition at line 80 of file planning_state.cpp.

vigir_footstep_planning::PlanningState::PlanningState ( const PlanningState & s )

Copy constructor.

Definition at line 94 of file planning_state.cpp.

vigir_footstep_planning::PlanningState::~PlanningState ( )

Definition at line 105 of file planning_state.cpp.

Member Function Documentation

unsigned int vigir_footstep_planning::PlanningState::getHashTag ( ) const [inline]

Returns:: The (non-unique) hash tag used to identify the planning state.

Definition at line 127 of file planning_state.h.

int vigir_footstep_planning::PlanningState::getId ( ) const [inline]

Returns:: The (unique) ID used within the SBPL to access the planning state.

Definition at line 133 of file planning_state.h.

Leg vigir_footstep_planning::PlanningState::getLeg ( ) const [inline]

Definition at line 115 of file planning_state.h.

const PlanningState* vigir_footstep_planning::PlanningState::getPredState ( ) const [inline]

Definition at line 118 of file planning_state.h.

const State & vigir_footstep_planning::PlanningState::getState ( ) const

gets the continuous State the PlanningState represents.

Definition at line 133 of file planning_state.cpp.

State & vigir_footstep_planning::PlanningState::getState ( )

Definition at line 138 of file planning_state.cpp.

double vigir_footstep_planning::PlanningState::getStepDuration ( ) const [inline]

Definition at line 113 of file planning_state.h.

const PlanningState* vigir_footstep_planning::PlanningState::getSuccState ( ) const [inline]

Definition at line 121 of file planning_state.h.

double vigir_footstep_planning::PlanningState::getSwayDuration ( ) const [inline]

Definition at line 112 of file planning_state.h.

double vigir_footstep_planning::PlanningState::getSwingHeight ( ) const [inline]

Definition at line 110 of file planning_state.h.

int vigir_footstep_planning::PlanningState::getX ( ) const [inline]

Definition at line 106 of file planning_state.h.

int vigir_footstep_planning::PlanningState::getY ( ) const [inline]

Definition at line 107 of file planning_state.h.

int vigir_footstep_planning::PlanningState::getYaw ( ) const [inline]

Definition at line 108 of file planning_state.h.

bool vigir_footstep_planning::PlanningState::operator!= ( const PlanningState & s2 ) const

Compare two states on inequality of x, y, theta, leg by comparing the hash tags of the states.

Definition at line 128 of file planning_state.cpp.

bool vigir_footstep_planning::PlanningState::operator== ( const PlanningState & s2 ) const

Compare two states on equality of x, y, theta, leg. Makes first use of the non-unique hash tag to rule out unequal states.

TODO: Comment this in to plan with full steps (slower)! Check hashtag for performance improvements!

Definition at line 108 of file planning_state.cpp.

void vigir_footstep_planning::PlanningState::setId ( unsigned int id ) [inline]

Used to attach such an unique ID to the planning state. (This cannot be done in the constructor since often such an ID is not known when the planning state is created.)

Definition at line 104 of file planning_state.h.

void vigir_footstep_planning::PlanningState::setPredState ( const PlanningState * pred_state ) [inline]

Definition at line 117 of file planning_state.h.

void vigir_footstep_planning::PlanningState::setSuccState ( const PlanningState * succ_state ) [inline]

Definition at line 120 of file planning_state.h.