Public Types | Public Member Functions | Protected Attributes | Private Attributes | Friends
jsk_footstep_planner::FootstepGraph Class Reference

#include <footstep_graph.h>

Inheritance diagram for jsk_footstep_planner::FootstepGraph:
Inheritance graph
[legend]

List of all members.

Public Types

typedef boost::function
< double(StatePtr, StatePtr,
double) > 
PathCostFunction
typedef boost::shared_ptr
< FootstepGraph
Ptr
typedef boost::function< bool(StatePtr
target_state, std::vector
< StatePtr > &) > 
SuccessorFunction

Public Member Functions

virtual void clearPerceptionDuration ()
bool finalizeSteps (const StatePtr &last_1_Step, const StatePtr &lastStep, std::vector< StatePtr > &finalizeSteps)
 FootstepGraph (const Eigen::Vector3f &resolution, const bool use_pointcloud_model=false, const bool lazy_projection=true, const bool local_movement=false, const bool use_obstacle_model=false)
virtual TransitionLimit::Ptr getGlobalTransitionLimit ()
virtual FootstepState::Ptr getGoal (int leg)
virtual ros::WallDuration getPerceptionDuration ()
virtual pcl::PointIndices::Ptr getPointIndicesCollidingSphere (const Eigen::Affine3f &c)
virtual Eigen::Affine3f getRobotCoords (StatePtr current_state, StatePtr previous_state) const
 Compute robot coords from current footstep and previous footstep. R_robot = midcoords(F_current, F_previous) * R_offset;.
virtual TransitionLimit::Ptr getTransitionLimit ()
virtual std::string infoString () const
 return string about graph information.
virtual bool isColliding (StatePtr current_state, StatePtr previous_state)
 return True if current_state collides with obstacle.
virtual bool isCollidingBox (const Eigen::Affine3f &c, pcl::PointIndices::Ptr candidates) const
virtual bool isGoal (StatePtr state)
virtual bool isSuccessable (StatePtr current_state, StatePtr previous_state)
virtual bool lazyProjection () const
virtual std::vector
< FootstepState::Ptr
localMoveFootstepState (FootstepState::Ptr in)
virtual bool localMovement () const
virtual double maxSuccessorDistance ()
virtual double maxSuccessorRotation ()
double path_cost_original (StatePtr from, StatePtr to, double prev_cost)
virtual double pathCost (StatePtr from, StatePtr to, double prev_cost)
virtual FootstepState::Ptr projectFootstep (FootstepState::Ptr in)
virtual FootstepState::Ptr projectFootstep (FootstepState::Ptr in, unsigned int &state)
virtual bool projectGoal ()
virtual bool projectStart ()
virtual void setBasicSuccessors (std::vector< Eigen::Affine3f > left_to_right_successors)
virtual void setCollisionBBoxOffset (const Eigen::Affine3f &offset)
virtual void setCollisionBBoxSize (const Eigen::Vector3f &size)
virtual void setGlobalTransitionLimit (TransitionLimit::Ptr limit)
virtual void setGoalState (FootstepState::Ptr left, FootstepState::Ptr right)
void setHeuristicPathLine (jsk_recognition_utils::PolyLine &path_line)
virtual void setLeftGoalState (FootstepState::Ptr goal)
virtual void setObstacleModel (pcl::PointCloud< pcl::PointXYZ >::Ptr model)
virtual void setParameters (FootstepParameters &p)
virtual void setPathCostFunction (PathCostFunction p)
virtual void setPointCloudModel (pcl::PointCloud< pcl::PointNormal >::Ptr model)
virtual void setProgressPublisher (ros::NodeHandle &nh, std::string topic)
virtual void setRightGoalState (FootstepState::Ptr goal)
virtual void setSuccessorFunction (SuccessorFunction s)
virtual void setTransitionLimit (TransitionLimit::Ptr limit)
virtual std::vector< StatePtrsuccessors (StatePtr target_state)
bool successors_original (StatePtr target_state, std::vector< FootstepGraph::StatePtr > &ret)
virtual bool useObstacleModel () const
virtual bool usePointCloudModel () const

Protected Attributes

Eigen::Affine3f collision_bbox_offset_
Eigen::Vector3f collision_bbox_size_
TransitionLimit::Ptr global_transition_limit_
ANNGrid::Ptr grid_search_
jsk_recognition_utils::PolyLine::Ptr heuristic_path_
const bool lazy_projection_
FootstepState::Ptr left_goal_state_
const bool local_movement_
double max_successor_distance_
double max_successor_rotation_
pcl::PointCloud< pcl::PointXYZ >
::Ptr 
obstacle_model_
pcl::KdTreeFLANN
< pcl::PointXYZ >::Ptr 
obstacle_tree_model_
FootstepParameters parameters_
ros::WallDuration perception_duration_
pcl::PointCloud
< pcl::PointNormal >::Ptr 
pointcloud_model_
pcl::PointCloud
< pcl::PointNormal >::Ptr 
pointcloud_model_2d_
ros::Publisher pub_progress_
bool publish_progress_
const Eigen::Vector3f resolution_
FootstepState::Ptr right_goal_state_
std::vector< Eigen::Affine3f > successors_from_left_to_right_
std::vector< Eigen::Affine3f > successors_from_right_to_left_
TransitionLimit::Ptr transition_limit_
pcl::KdTreeFLANN
< pcl::PointNormal >::Ptr 
tree_model_
pcl::search::Octree
< pcl::PointNormal >::Ptr 
tree_model_2d_
const bool use_obstacle_model_
const bool use_pointcloud_model_
FootstepState::Ptr zero_state_
 zero_state is used only for global transition limit

Private Attributes

PathCostFunction path_cost_func_
SuccessorFunction successor_func_

Friends

double footstepHeuristicFollowPathLine (SolverNode< FootstepState, FootstepGraph >::Ptr node, FootstepGraph::Ptr graph)

Detailed Description

Definition at line 54 of file footstep_graph.h.


Member Typedef Documentation

typedef boost::function< double(StatePtr, StatePtr, double) > jsk_footstep_planner::FootstepGraph::PathCostFunction

Definition at line 59 of file footstep_graph.h.

Reimplemented from jsk_footstep_planner::Graph< FootstepState >.

Definition at line 57 of file footstep_graph.h.

typedef boost::function< bool(StatePtr target_state, std::vector<StatePtr> &) > jsk_footstep_planner::FootstepGraph::SuccessorFunction

Definition at line 58 of file footstep_graph.h.


Constructor & Destructor Documentation

jsk_footstep_planner::FootstepGraph::FootstepGraph ( const Eigen::Vector3f &  resolution,
const bool  use_pointcloud_model = false,
const bool  lazy_projection = true,
const bool  local_movement = false,
const bool  use_obstacle_model = false 
) [inline]

Definition at line 63 of file footstep_graph.h.


Member Function Documentation

Definition at line 211 of file footstep_graph.h.

bool jsk_footstep_planner::FootstepGraph::finalizeSteps ( const StatePtr last_1_Step,
const StatePtr lastStep,
std::vector< StatePtr > &  finalizeSteps 
)

Definition at line 154 of file footstep_graph.cpp.

Definition at line 207 of file footstep_graph.h.

virtual FootstepState::Ptr jsk_footstep_planner::FootstepGraph::getGoal ( int  leg) [inline, virtual]

Definition at line 143 of file footstep_graph.h.

Definition at line 210 of file footstep_graph.h.

pcl::PointIndices::Ptr jsk_footstep_planner::FootstepGraph::getPointIndicesCollidingSphere ( const Eigen::Affine3f &  c) [virtual]

Definition at line 107 of file footstep_graph.cpp.

Eigen::Affine3f jsk_footstep_planner::FootstepGraph::getRobotCoords ( StatePtr  current_state,
StatePtr  previous_state 
) const [virtual]

Compute robot coords from current footstep and previous footstep. R_robot = midcoords(F_current, F_previous) * R_offset;.

Definition at line 101 of file footstep_graph.cpp.

Definition at line 205 of file footstep_graph.h.

return string about graph information.

Definition at line 168 of file footstep_graph.cpp.

bool jsk_footstep_planner::FootstepGraph::isColliding ( StatePtr  current_state,
StatePtr  previous_state 
) [virtual]

return True if current_state collides with obstacle.

Definition at line 137 of file footstep_graph.cpp.

bool jsk_footstep_planner::FootstepGraph::isCollidingBox ( const Eigen::Affine3f &  c,
pcl::PointIndices::Ptr  candidates 
) const [virtual]

Definition at line 118 of file footstep_graph.cpp.

Implements jsk_footstep_planner::Graph< FootstepState >.

Definition at line 71 of file footstep_graph.cpp.

bool jsk_footstep_planner::FootstepGraph::isSuccessable ( StatePtr  current_state,
StatePtr  previous_state 
) [virtual]

Definition at line 214 of file footstep_graph.cpp.

virtual bool jsk_footstep_planner::FootstepGraph::lazyProjection ( ) const [inline, virtual]

Definition at line 200 of file footstep_graph.h.

Definition at line 233 of file footstep_graph.cpp.

virtual bool jsk_footstep_planner::FootstepGraph::localMovement ( ) const [inline, virtual]

Definition at line 201 of file footstep_graph.h.

virtual double jsk_footstep_planner::FootstepGraph::maxSuccessorDistance ( ) [inline, virtual]

Definition at line 156 of file footstep_graph.h.

virtual double jsk_footstep_planner::FootstepGraph::maxSuccessorRotation ( ) [inline, virtual]

Definition at line 160 of file footstep_graph.h.

double jsk_footstep_planner::FootstepGraph::path_cost_original ( StatePtr  from,
StatePtr  to,
double  prev_cost 
) [inline]

Definition at line 223 of file footstep_graph.h.

virtual double jsk_footstep_planner::FootstepGraph::pathCost ( StatePtr  from,
StatePtr  to,
double  prev_cost 
) [inline, virtual]

Reimplemented from jsk_footstep_planner::Graph< FootstepState >.

Definition at line 96 of file footstep_graph.h.

Definition at line 324 of file footstep_graph.cpp.

Definition at line 330 of file footstep_graph.cpp.

Definition at line 350 of file footstep_graph.cpp.

Definition at line 372 of file footstep_graph.cpp.

void jsk_footstep_planner::FootstepGraph::setBasicSuccessors ( std::vector< Eigen::Affine3f >  left_to_right_successors) [virtual]

Definition at line 41 of file footstep_graph.cpp.

virtual void jsk_footstep_planner::FootstepGraph::setCollisionBBoxOffset ( const Eigen::Affine3f &  offset) [inline, virtual]

Definition at line 213 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setCollisionBBoxSize ( const Eigen::Vector3f &  size) [inline, virtual]

Definition at line 214 of file footstep_graph.h.

Definition at line 206 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setGoalState ( FootstepState::Ptr  left,
FootstepState::Ptr  right 
) [inline, virtual]

Definition at line 117 of file footstep_graph.h.

Definition at line 227 of file footstep_graph.h.

Definition at line 124 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setObstacleModel ( pcl::PointCloud< pcl::PointXYZ >::Ptr  model) [inline, virtual]

Definition at line 189 of file footstep_graph.h.

Definition at line 203 of file footstep_graph.h.

Definition at line 219 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setPointCloudModel ( pcl::PointCloud< pcl::PointNormal >::Ptr  model) [inline, virtual]

Definition at line 171 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setProgressPublisher ( ros::NodeHandle nh,
std::string  topic 
) [inline, virtual]

Definition at line 165 of file footstep_graph.h.

Definition at line 129 of file footstep_graph.h.

Definition at line 216 of file footstep_graph.h.

Definition at line 204 of file footstep_graph.h.

virtual std::vector<StatePtr> jsk_footstep_planner::FootstepGraph::successors ( StatePtr  target_state) [inline, virtual]

Implements jsk_footstep_planner::Graph< FootstepState >.

Definition at line 88 of file footstep_graph.h.

Definition at line 274 of file footstep_graph.cpp.

virtual bool jsk_footstep_planner::FootstepGraph::useObstacleModel ( ) const [inline, virtual]

Definition at line 198 of file footstep_graph.h.

virtual bool jsk_footstep_planner::FootstepGraph::usePointCloudModel ( ) const [inline, virtual]

Definition at line 199 of file footstep_graph.h.


Friends And Related Function Documentation


Member Data Documentation

Definition at line 249 of file footstep_graph.h.

Definition at line 250 of file footstep_graph.h.

Definition at line 263 of file footstep_graph.h.

Definition at line 239 of file footstep_graph.h.

Definition at line 269 of file footstep_graph.h.

Definition at line 257 of file footstep_graph.h.

Definition at line 242 of file footstep_graph.h.

Definition at line 258 of file footstep_graph.h.

Definition at line 251 of file footstep_graph.h.

Definition at line 252 of file footstep_graph.h.

Definition at line 233 of file footstep_graph.h.

pcl::KdTreeFLANN<pcl::PointXYZ>::Ptr jsk_footstep_planner::FootstepGraph::obstacle_tree_model_ [protected]

Definition at line 236 of file footstep_graph.h.

Definition at line 264 of file footstep_graph.h.

Definition at line 272 of file footstep_graph.h.

Definition at line 266 of file footstep_graph.h.

Definition at line 232 of file footstep_graph.h.

Definition at line 234 of file footstep_graph.h.

Definition at line 254 of file footstep_graph.h.

Definition at line 253 of file footstep_graph.h.

const Eigen::Vector3f jsk_footstep_planner::FootstepGraph::resolution_ [protected]

Definition at line 260 of file footstep_graph.h.

Definition at line 243 of file footstep_graph.h.

Definition at line 271 of file footstep_graph.h.

Definition at line 240 of file footstep_graph.h.

Definition at line 241 of file footstep_graph.h.

Definition at line 262 of file footstep_graph.h.

pcl::KdTreeFLANN<pcl::PointNormal>::Ptr jsk_footstep_planner::FootstepGraph::tree_model_ [protected]

Definition at line 235 of file footstep_graph.h.

pcl::search::Octree<pcl::PointNormal>::Ptr jsk_footstep_planner::FootstepGraph::tree_model_2d_ [protected]

Definition at line 238 of file footstep_graph.h.

Definition at line 259 of file footstep_graph.h.

Definition at line 256 of file footstep_graph.h.

zero_state is used only for global transition limit

Definition at line 248 of file footstep_graph.h.


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


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Jul 19 2017 02:54:29