A class defining a footstep planner environment for humanoid robots used by the SBPL to perform planning tasks. More...

#include <footstep_planner_environment.h>

Classes
struct	less
	< operator for planning states. More...
Public Member Functions
bool	AreEquivalent (int StateID1, int StateID2)
	FootstepPlannerEnvironment (const EnvironmentParameters &params, const FootPoseTransformer &foot_pose_transformer, boost::function< void(msgs::PlanningFeedback)> &feedback_cb)
exp_states_2d_iter_t	getExpandedStatesEnd ()
exp_states_2d_iter_t	getExpandedStatesStart ()
int	GetFromToHeuristic (int FromStateID, int ToStateID)
int	GetGoalHeuristic (int stateID)
int	getNumExpandedStates ()
void	GetPreds (int TargetStateID, std::vector< int > PredIDV, std::vector< int > CostV)
	Calculates the predecessor states and the corresponding costs when reversing the footstep set on the planning state TargetStateID. (Used for backward planning.)
virtual void	GetRandomPredsatDistance (int TargetStateID, std::vector< int > PredIDV, std::vector< int > CLowV)
	Used for RStar: generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment.
virtual void	GetRandomSuccsatDistance (int SourceStateID, std::vector< int > SuccIDV, std::vector< int > CLowV)
	Used for RStar: generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment.
int	GetStartHeuristic (int stateID)
const StateSpace::Ptr &	getStateSpace ()
void	GetSuccs (int SourceStateID, std::vector< int > SuccIDV, std::vector< int > CostV)
	Calculates the successor states and the corresponding costs when performing the footstep set on the planning state SourceStateID. (Used for forward planning.)
bool	InitializeEnv (const char *sEnvFile)
bool	InitializeMDPCfg (MDPConfig *MDPCfg)
void	PrintEnv_Config (FILE *fOut)
void	PrintState (int stateID, bool bVerbose, FILE *fOut)
void	reset ()
	Resets the current planning task (i.e. the start and goal poses).
void	SetAllActionsandAllOutcomes (CMDPSTATE *state)
void	SetAllPreds (CMDPSTATE *state)
void	setFrameId (const std::string &frame_id)
int	SizeofCreatedEnv ()
void	stateExpanded (const PlanningState &s)
void	stateVisited (const PlanningState &s)
void	updateHeuristicValues ()
	Update the heuristic values (e.g. after the map has changed). The environment takes care that the update is only done when it is necessary.
virtual	~FootstepPlannerEnvironment ()
Protected Member Functions
int	GetFromToHeuristic (const PlanningState &from, const PlanningState &to, const PlanningState &start, const PlanningState &goal)
Protected Attributes
boost::function< void(msgs::PlanningFeedback)> &	feedback_cb
const FootPoseTransformer &	foot_pose_transformer
std::string	frame_id
exp_states_2d_t	ivExpandedStates
size_t	ivNumExpandedStates
ros::Time	last_feedback_flush
const EnvironmentParameters &	params
	Parameters.
StateSpace::Ptr	state_space
std::vector< msgs::Step >	visited_steps

Detailed Description

A class defining a footstep planner environment for humanoid robots used by the SBPL to perform planning tasks.

The environment keeps track of all the planning states expanded during the search. Each planning state can be accessed via its ID. Furthermore

Definition at line 65 of file footstep_planner_environment.h.

Constructor & Destructor Documentation

vigir_footstep_planning::FootstepPlannerEnvironment::FootstepPlannerEnvironment	(	const EnvironmentParameters &	params,
		const FootPoseTransformer &	foot_pose_transformer,
		boost::function< void(msgs::PlanningFeedback)> &	feedback_cb
	)

Definition at line 9 of file footstep_planner_environment.cpp.

vigir_footstep_planning::FootstepPlannerEnvironment::~FootstepPlannerEnvironment ( ) [virtual]

Definition at line 21 of file footstep_planner_environment.cpp.

Member Function Documentation

bool vigir_footstep_planning::FootstepPlannerEnvironment::AreEquivalent	(	int	StateID1,
		int	StateID2
	)

Returns:: True if two states meet the same condition. Used for R*.

Definition at line 406 of file footstep_planner_environment.cpp.

exp_states_2d_iter_t vigir_footstep_planning::FootstepPlannerEnvironment::getExpandedStatesEnd ( ) [inline]

Definition at line 94 of file footstep_planner_environment.h.

exp_states_2d_iter_t vigir_footstep_planning::FootstepPlannerEnvironment::getExpandedStatesStart ( ) [inline]

Definition at line 89 of file footstep_planner_environment.h.

int vigir_footstep_planning::FootstepPlannerEnvironment::GetFromToHeuristic	(	int	FromStateID,
		int	ToStateID
	)

Returns:: The costs (in mm, truncated as int) to reach the planning state ToStateID from within planning state FromStateID.

Definition at line 146 of file footstep_planner_environment.cpp.

int vigir_footstep_planning::FootstepPlannerEnvironment::GetFromToHeuristic	(	const PlanningState &	from,
		const PlanningState &	to,
		const PlanningState &	start,
		const PlanningState &	goal
	)		`[protected]`

Returns:: The costs (in mm, truncated as int) to reach the planning state ToStateID from within planning state FromStateID.

Definition at line 160 of file footstep_planner_environment.cpp.

int vigir_footstep_planning::FootstepPlannerEnvironment::GetGoalHeuristic ( int stateID )

Returns:: The heuristic value to reach the goal from within the planning state stateID (used for forward planning).

Definition at line 165 of file footstep_planner_environment.cpp.

int vigir_footstep_planning::FootstepPlannerEnvironment::getNumExpandedStates ( ) [inline]

Returns:: The number of expanded states during the search.

Definition at line 78 of file footstep_planner_environment.h.

void vigir_footstep_planning::FootstepPlannerEnvironment::GetPreds	(	int	TargetStateID,
		std::vector< int > *	PredIDV,
		std::vector< int > *	CostV
	)

Calculates the predecessor states and the corresponding costs when reversing the footstep set on the planning state TargetStateID. (Used for backward planning.)

Definition at line 175 of file footstep_planner_environment.cpp.

void vigir_footstep_planning::FootstepPlannerEnvironment::GetRandomPredsatDistance	(	int	TargetStateID,
		std::vector< int > *	PredIDV,
		std::vector< int > *	CLowV
	)		`[virtual]`

Used for RStar: generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment.

Definition at line 386 of file footstep_planner_environment.cpp.

void vigir_footstep_planning::FootstepPlannerEnvironment::GetRandomSuccsatDistance	(	int	SourceStateID,
		std::vector< int > *	SuccIDV,
		std::vector< int > *	CLowV
	)		`[virtual]`

Used for RStar: generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment.

Definition at line 366 of file footstep_planner_environment.cpp.

int vigir_footstep_planning::FootstepPlannerEnvironment::GetStartHeuristic ( int stateID )

Returns:: The heuristic value to reach the start from within the planning state stateID. (Used for backward planning.)

Definition at line 265 of file footstep_planner_environment.cpp.

const StateSpace::Ptr& vigir_footstep_planning::FootstepPlannerEnvironment::getStateSpace ( ) [inline]

Definition at line 75 of file footstep_planner_environment.h.

void vigir_footstep_planning::FootstepPlannerEnvironment::GetSuccs	(	int	SourceStateID,
		std::vector< int > *	SuccIDV,
		std::vector< int > *	CostV
	)

Calculates the successor states and the corresponding costs when performing the footstep set on the planning state SourceStateID. (Used for forward planning.)

Definition at line 276 of file footstep_planner_environment.cpp.

bool vigir_footstep_planning::FootstepPlannerEnvironment::InitializeEnv ( const char * sEnvFile )

Definition at line 419 of file footstep_planner_environment.cpp.

bool vigir_footstep_planning::FootstepPlannerEnvironment::InitializeMDPCfg ( MDPConfig * MDPCfg )

Definition at line 426 of file footstep_planner_environment.cpp.

void vigir_footstep_planning::FootstepPlannerEnvironment::PrintEnv_Config ( FILE * fOut )

Definition at line 439 of file footstep_planner_environment.cpp.

void vigir_footstep_planning::FootstepPlannerEnvironment::PrintState	(	int	stateID,
		bool	bVerbose,
		FILE *	fOut
	)

Definition at line 446 of file footstep_planner_environment.cpp.

void vigir_footstep_planning::FootstepPlannerEnvironment::reset ( )

Resets the current planning task (i.e. the start and goal poses).

Definition at line 68 of file footstep_planner_environment.cpp.

void vigir_footstep_planning::FootstepPlannerEnvironment::SetAllActionsandAllOutcomes ( CMDPSTATE * state )

Definition at line 472 of file footstep_planner_environment.cpp.

void vigir_footstep_planning::FootstepPlannerEnvironment::SetAllPreds ( CMDPSTATE * state )

Definition at line 484 of file footstep_planner_environment.cpp.

void vigir_footstep_planning::FootstepPlannerEnvironment::setFrameId ( const std::string & frame_id )

Definition at line 25 of file footstep_planner_environment.cpp.

int vigir_footstep_planning::FootstepPlannerEnvironment::SizeofCreatedEnv ( )

Definition at line 496 of file footstep_planner_environment.cpp.

void vigir_footstep_planning::FootstepPlannerEnvironment::stateExpanded ( const PlanningState & s )

Definition at line 79 of file footstep_planner_environment.cpp.

void vigir_footstep_planning::FootstepPlannerEnvironment::stateVisited ( const PlanningState & s )

TODO: resize is expensive!

Definition at line 133 of file footstep_planner_environment.cpp.

void vigir_footstep_planning::FootstepPlannerEnvironment::updateHeuristicValues ( )

Update the heuristic values (e.g. after the map has changed). The environment takes care that the update is only done when it is necessary.

Definition at line 30 of file footstep_planner_environment.cpp.

Member Data Documentation

boost::function<void (msgs::PlanningFeedback)>& vigir_footstep_planning::FootstepPlannerEnvironment::feedback_cb [protected]

Definition at line 192 of file footstep_planner_environment.h.

const FootPoseTransformer& vigir_footstep_planning::FootstepPlannerEnvironment::foot_pose_transformer [protected]

Definition at line 189 of file footstep_planner_environment.h.

std::string vigir_footstep_planning::FootstepPlannerEnvironment::frame_id [protected]

Definition at line 200 of file footstep_planner_environment.h.

exp_states_2d_t vigir_footstep_planning::FootstepPlannerEnvironment::ivExpandedStates [protected]

Definition at line 197 of file footstep_planner_environment.h.

size_t vigir_footstep_planning::FootstepPlannerEnvironment::ivNumExpandedStates [protected]

Definition at line 198 of file footstep_planner_environment.h.

ros::Time vigir_footstep_planning::FootstepPlannerEnvironment::last_feedback_flush [protected]

Definition at line 202 of file footstep_planner_environment.h.

const EnvironmentParameters& vigir_footstep_planning::FootstepPlannerEnvironment::params [protected]

Parameters.

Definition at line 195 of file footstep_planner_environment.h.

StateSpace::Ptr vigir_footstep_planning::FootstepPlannerEnvironment::state_space [protected]

Definition at line 186 of file footstep_planner_environment.h.

std::vector<msgs::Step> vigir_footstep_planning::FootstepPlannerEnvironment::visited_steps [protected]

Definition at line 201 of file footstep_planner_environment.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation