Inheritance diagram for dpScheduleNode:

Public Member Functions
	dpScheduleNode (dpScheduleNode potential_parent, Joint _last_joint, const fVec &_proc_costs, dpScheduleNode *_schedule_parent, int child_id, int _first_proc, int _last_proc, const joint_list &org_internal_joints, const p_joint_list &org_outer_joints)
int	FirstProc ()
Joint *	LastJoint ()
int	LastProc ()
int	ListAllInternalJoints (joint_list &all_internal)
fVec &	ProcCosts ()
int	ScheduleDepth ()
	~dpScheduleNode ()
Protected Member Functions
double	calc_astar_cost (dpNode *potential_parent)
	Compute the A-star cost at the node (optional).
double	calc_cost ()
	Compute the local cost at the node.
int	create_child_nodes (dpNode **&nodes)
	Create (potential) child nodes.
dpScheduleNode *	find_available_parent (int target_depth, int &child_id)
dpScheduleNode *	find_available_parent_sub (dpScheduleNode cur, int target_depth, dpNode cur_leaf, int &child_id)
int	is_goal ()
	Check if the state is goal.
int	list_all_internal_joints_rev (Joint *cur, joint_list &all_internal)
int	list_all_internal_joints_sub (Joint *cur, joint_list &all_internal)
int	same_state (dpNode *refnode)
	Check if the node's state is the same as `refnode`. (to remove duplicates)
int	set_outer_joints (pJoint *last_pjoint, const p_joint_list &org_outer_joints, p_joint_list &new_outer_joints)
int	split_internal_joints (Joint *_last_joint, const joint_list &org_internal_joints, joint_list &_internal_joints_0, joint_list &_internal_joints_1)
Private Member Functions
double	add_to_child_side (Joint cur, joint_list &added_joints, int n_outer_parent_side, int *n_outer_child_side)
double	add_to_parent_side (Joint cur, joint_list &added_joints, int n_outer_parent_side, int *n_outer_child_side)
double	calc_min_subchain_cost (const p_joint_list &_outer_joints, joint_list &added_joints)
double	calc_min_subchain_cost_sub (Joint cur, const p_joint_list &_outer_joints, int n_outer_parent_side, int *n_outer_child_side, joint_list &added_joints)
double	calc_single_joint_cost (int n_dof, int n_outer)
Private Attributes
int	first_proc
joint_list	internal_joints [2]
Joint *	last_joint
pJoint *	last_pjoints [2]
int	last_proc
double	mycost
p_joint_list	outer_joints
fVec	proc_costs
int	schedule_depth
dpScheduleNode *	schedule_parent
double	single_joint_cost

Detailed Description

Definition at line 35 of file schedule.cpp.

Constructor & Destructor Documentation

dpScheduleNode::dpScheduleNode	(	dpScheduleNode *	potential_parent,
		Joint *	_last_joint,
		const fVec &	_proc_costs,
		dpScheduleNode *	_schedule_parent,
		int	child_id,
		int	_first_proc,
		int	_last_proc,
		const joint_list &	org_internal_joints,
		const p_joint_list &	org_outer_joints
	)		`[inline]`

Definition at line 39 of file schedule.cpp.

dpScheduleNode::~dpScheduleNode ( ) [inline]

Definition at line 119 of file schedule.cpp.

Member Function Documentation

double dpScheduleNode::add_to_child_side	(	Joint *	cur,
		joint_list &	added_joints,
		int *	n_outer_parent_side,
		int *	n_outer_child_side
	)		`[private]`

Definition at line 637 of file schedule.cpp.

double dpScheduleNode::add_to_parent_side	(	Joint *	cur,
		joint_list &	added_joints,
		int *	n_outer_parent_side,
		int *	n_outer_child_side
	)		`[private]`

Definition at line 655 of file schedule.cpp.

double dpScheduleNode::calc_astar_cost ( dpNode * potential_parent ) [inline, protected, virtual]

Compute the A-star cost at the node (optional).

Reimplemented from dpNode.

Definition at line 279 of file schedule.cpp.

double dpScheduleNode::calc_cost ( ) [inline, protected, virtual]

Compute the local cost at the node.

Implements dpNode.

Definition at line 275 of file schedule.cpp.

double dpScheduleNode::calc_min_subchain_cost	(	const p_joint_list &	_outer_joints,
		joint_list &	added_joints
	)		`[private]`

Definition at line 445 of file schedule.cpp.

double dpScheduleNode::calc_min_subchain_cost_sub	(	Joint *	cur,
		const p_joint_list &	_outer_joints,
		int *	n_outer_parent_side,
		int *	n_outer_child_side,
		joint_list &	added_joints
	)		`[private]`

Definition at line 527 of file schedule.cpp.

double dpScheduleNode::calc_single_joint_cost	(	int	n_dof,
		int	n_outer
	)		`[inline, private]`

Definition at line 356 of file schedule.cpp.

int dpScheduleNode::create_child_nodes ( dpNode **& nodes ) [inline, protected, virtual]

Create (potential) child nodes.

Parameters:

[out] nodes array of pointers to the child nodes

Implements dpNode.

Definition at line 150 of file schedule.cpp.

dpScheduleNode * dpScheduleNode::find_available_parent	(	int	target_depth,
		int &	child_id
	)		`[protected]`

Definition at line 680 of file schedule.cpp.

dpScheduleNode * dpScheduleNode::find_available_parent_sub	(	dpScheduleNode *	cur,
		int	target_depth,
		dpNode *	cur_leaf,
		int &	child_id
	)		`[protected]`

Definition at line 691 of file schedule.cpp.

int dpScheduleNode::FirstProc ( ) [inline]

Definition at line 132 of file schedule.cpp.

int dpScheduleNode::is_goal ( ) [inline, protected, virtual]

Check if the state is goal.

Implements dpNode.

Definition at line 338 of file schedule.cpp.

Joint* dpScheduleNode::LastJoint ( ) [inline]

Definition at line 126 of file schedule.cpp.

int dpScheduleNode::LastProc ( ) [inline]

Definition at line 135 of file schedule.cpp.

int dpScheduleNode::list_all_internal_joints_rev	(	Joint *	cur,
		joint_list &	all_internal
	)		`[protected]`

Definition at line 409 of file schedule.cpp.

int dpScheduleNode::list_all_internal_joints_sub	(	Joint *	cur,
		joint_list &	all_internal
	)		`[protected]`

Definition at line 427 of file schedule.cpp.

int dpScheduleNode::ListAllInternalJoints ( joint_list & all_internal )

Definition at line 368 of file schedule.cpp.

fVec& dpScheduleNode::ProcCosts ( ) [inline]

Definition at line 122 of file schedule.cpp.

int dpScheduleNode::same_state ( dpNode * refnode ) [inline, protected, virtual]

Check if the node's state is the same as refnode. (to remove duplicates)

Implements dpNode.

Definition at line 334 of file schedule.cpp.

int dpScheduleNode::ScheduleDepth ( ) [inline]

Definition at line 129 of file schedule.cpp.

int dpScheduleNode::set_outer_joints	(	pJoint *	last_pjoint,
		const p_joint_list &	org_outer_joints,
		p_joint_list &	new_outer_joints
	)		`[protected]`

Definition at line 875 of file schedule.cpp.

int dpScheduleNode::split_internal_joints	(	Joint *	_last_joint,
		const joint_list &	org_internal_joints,
		joint_list &	_internal_joints_0,
		joint_list &	_internal_joints_1
	)		`[protected]`