GecodeAnalyzer Class Reference

#include <GecodeAnalyzer.h>

Inheritance diagram for GecodeAnalyzer:

Public Types
enum	CSPDataMatrixStorageType { ROW_MAJOR, COL_MAJOR }
typedef Eigen::Matrix3d	M3
typedef Eigen::MatrixXd	MX
typedef Eigen::Vector3d	V3
typedef Eigen::VectorXd	VX
Public Types inherited from SeqAnalyzer
typedef Eigen::Matrix3d	M3
typedef Eigen::MatrixXd	MX
typedef Eigen::Vector3d	V3
typedef Eigen::VectorXd	VX

Public Member Functions
void	debug ()
	GecodeAnalyzer (DualGraph *ptr_dualgraph, QuadricCollision *ptr_collision, Stiffness *ptr_stiffness, FiberPrintPARM *ptr_parm, char *ptr_path, bool terminal_output, bool file_output, descartes_core::RobotModelPtr hotend_model, moveit::core::RobotModelConstPtr moveit_model, std::string hotend_group_name) noexcept
void	PrintOutTimer ()
bool	SeqPrint ()
	~GecodeAnalyzer ()
Public Member Functions inherited from SeqAnalyzer
bool	ConstructCollisionObjsInQueue (const std::vector< int > &print_queue_edge_ids, std::vector< choreo_msgs::WireFrameCollisionObject > &collision_objs)
bool	InputPrintOrder (const std::vector< int > &print_queue)
void	OutputPrintOrder (std::vector< WF_edge * > &print_queue)
void	OutputTaskSequencePlanningResult (std::vector< SingleTaskPlanningResult > &planning_result)
	SeqAnalyzer (DualGraph *ptr_dualgraph, QuadricCollision *ptr_collision, Stiffness *ptr_stiffness, FiberPrintPARM *ptr_parm, char *ptr_path, bool terminal_output, bool file_output, descartes_core::RobotModelPtr hotend_model, moveit::core::RobotModelConstPtr moveit_model, std::string hotend_group_name) noexcept
virtual bool	SeqPrintLayer (std::vector< int > layer_id)
void	setFrameMsgs (const std::vector< choreo_msgs::ElementCandidatePoses > &frame_msg)
virtual	~SeqAnalyzer ()

Private Member Functions
void	ComputeGecodeInput (const std::vector< WF_edge * > &layer_e, std::vector< int > &A, std::vector< int > &G, std::vector< int > &T, CSPDataMatrixStorageType m_type)

Private Attributes
Timer	gecode_analyzer_
std::vector< std::vector< WF_edge * > >	layers_
double	max_z_
double	min_z_

Additional Inherited Members
Public Attributes inherited from SeqAnalyzer
std::vector< choreo_msgs::ElementCandidatePoses >	frame_msgs_
QuadricCollision *	ptr_collision_
DualGraph *	ptr_dualgraph_
WireFrame *	ptr_frame_
char *	ptr_path_
Stiffness *	ptr_stiffness_
Protected Member Functions inherited from SeqAnalyzer
void	Init ()
void	PrintPillars ()
void	RecoverStateMap (WF_edge *e, vector< vector< lld >> &state_map)
void	RecoverStructure (WF_edge *e, bool update_collision=false)
WF_edge *	RouteEdgeDirection (const WF_edge *prev_e, WF_edge *e)
bool	TestifyStiffness (WF_edge *e)
bool	TestRobotKinematics (WF_edge *e, const std::vector< lld > &colli_map)
void	UpdateStateMap (WF_edge *e, vector< vector< lld >> &state_map)
void	UpdateStructure (WF_edge *e, bool update_collision=false)
Protected Attributes inherited from SeqAnalyzer
vector< vector< unsigned long long > >	angle_state_
VX	D0_
double	D_tol_
bool	file_output_
double	gamma_
std::string	hotend_group_name_
descartes_core::RobotModelPtr	hotend_model_
moveit::core::RobotModelConstPtr	moveit_model_
int	Nd_
int	num_backtrack_
int	num_p_assign_visited_
planning_scene::PlanningScenePtr	planning_scene_
std::vector< WF_edge * >	print_queue_
DualGraph *	ptr_wholegraph_
Timer	rec_map_
Timer	rec_struct_
int	search_rerun_
bool	terminal_output_
Timer	test_stiff_
Timer	upd_map_
Timer	upd_map_collision_
Timer	upd_struct_
bool	update_collision_
double	Wa_
double	Wi_
double	Wp_

Detailed Description

Definition at line 155 of file GecodeAnalyzer.h.

Member Typedef Documentation

typedef Eigen::Matrix3d GecodeAnalyzer::M3

Definition at line 165 of file GecodeAnalyzer.h.

typedef Eigen::MatrixXd GecodeAnalyzer::MX

Definition at line 164 of file GecodeAnalyzer.h.

typedef Eigen::Vector3d GecodeAnalyzer::V3

Definition at line 167 of file GecodeAnalyzer.h.

typedef Eigen::VectorXd GecodeAnalyzer::VX

Definition at line 166 of file GecodeAnalyzer.h.

Member Enumeration Documentation

enum GecodeAnalyzer::CSPDataMatrixStorageType

Enumerator
ROW_MAJOR
COL_MAJOR

Definition at line 158 of file GecodeAnalyzer.h.

Constructor & Destructor Documentation

GecodeAnalyzer::GecodeAnalyzer ( DualGraph *  ptr_dualgraph, QuadricCollision *  ptr_collision, Stiffness *  ptr_stiffness, FiberPrintPARM *  ptr_parm, char *  ptr_path, bool  terminal_output, bool  file_output, descartes_core::RobotModelPtr  hotend_model, moveit::core::RobotModelConstPtr  moveit_model, std::string  hotend_group_name  )

inlineexplicitnoexcept

Definition at line 170 of file GecodeAnalyzer.h.

GecodeAnalyzer::~GecodeAnalyzer

(

)

Definition at line 73 of file GecodeAnalyzer.cpp.

Member Function Documentation

void GecodeAnalyzer::ComputeGecodeInput ( const std::vector< WF_edge * > &  layer_e, std::vector< int > &  A, std::vector< int > &  G, std::vector< int > &  T, CSPDataMatrixStorageType  m_type  )

private

Definition at line 157 of file GecodeAnalyzer.cpp.

void GecodeAnalyzer::debug

(

)

Definition at line 278 of file GecodeAnalyzer.cpp.

void GecodeAnalyzer::PrintOutTimer ( )

virtual

Reimplemented from SeqAnalyzer.

Definition at line 272 of file GecodeAnalyzer.cpp.

bool GecodeAnalyzer::SeqPrint ( )

virtual

Reimplemented from SeqAnalyzer.

Definition at line 77 of file GecodeAnalyzer.cpp.

Member Data Documentation

Timer GecodeAnalyzer::gecode_analyzer_

private

Definition at line 205 of file GecodeAnalyzer.h.

std::vector<std::vector<WF_edge*> > GecodeAnalyzer::layers_

private

Definition at line 200 of file GecodeAnalyzer.h.

double GecodeAnalyzer::max_z_

private

Definition at line 203 of file GecodeAnalyzer.h.

double GecodeAnalyzer::min_z_

private

Definition at line 202 of file GecodeAnalyzer.h.

---

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

• GecodeAnalyzer.h
• GecodeAnalyzer.cpp