#include <footstep_astar_solver.h>

Inheritance diagram for jsk_footstep_planner::FootstepAStarSolver< GraphT >:

Public Types
typedef GraphT::Ptr	GraphPtr

typedef std::priority_queue< SolverNodePtr, std::vector< SolverNodePtr >, std::greater< SolverNodePtr > >	OpenList

typedef boost::function< void(FootstepAStarSolver &, GraphPtr)>	ProfileFunction

typedef boost::shared_ptr< FootstepAStarSolver >	Ptr

typedef SolverNode< State, GraphT >::Ptr	SolverNodePtr

typedef GraphT::StateT	State

typedef GraphT::StateT::Ptr	StatePtr

Public Types inherited from jsk_footstep_planner::AStarSolver< GraphT >
typedef GraphT::Ptr	GraphPtr

typedef boost::function< double(SolverNodePtr, GraphPtr)>	HeuristicFunction

typedef boost::shared_ptr< AStarSolver >	Ptr

typedef SolverNode< State, GraphT >::Ptr	SolverNodePtr

typedef GraphT::StateT	State

typedef GraphT::StateT::Ptr	StatePtr

Public Types inherited from jsk_footstep_planner::BestFirstSearchSolver< GraphT >
typedef GraphT::Ptr	GraphPtr

typedef std::priority_queue< SolverNodePtr, std::vector< SolverNodePtr >, std::greater< SolverNodePtr > >	OpenList

typedef boost::shared_ptr< BestFirstSearchSolver >	Ptr

typedef SolverNode< State, GraphT >::Ptr	SolverNodePtr

typedef GraphT::StateT	State

typedef GraphT::StateT::Ptr	StatePtr

Public Types inherited from jsk_footstep_planner::Solver< GraphT >
typedef GraphT::Ptr	GraphPtr

typedef boost::shared_ptr< Solver >	Ptr

typedef boost::unordered_map< StatePtr, double >	SolveList

typedef SolverNode< State, GraphT >::Ptr	SolverNodePtr

typedef GraphT::StateT	State

typedef GraphT::StateT::Ptr	StatePtr

Public Member Functions
virtual void	addToCloseList (StatePtr s)

void	addToOpenList (SolverNodePtr node)

virtual void	cancelSolve ()

template<class PointT >
void	closeListToPointCloud (pcl::PointCloud< PointT > &output_cloud)

virtual bool	findInCloseList (StatePtr s)

virtual double	fn (SolverNodePtr n)

	FootstepAStarSolver (GraphPtr graph, size_t x_num, size_t y_num, size_t theta_num, unsigned int profile_period=1024, double cost_weight=1.0, double heuristic_weight=1.0)

virtual FootstepStateDiscreteCloseList	getCloseList ()

virtual OpenList	getOpenList ()

virtual bool	isOK (const ros::WallTime &start_time, const ros::WallDuration &timeout)

template<class PointT >
void	openListToPointCloud (pcl::PointCloud< PointT > &output_cloud)

virtual void	setProfileFunction (ProfileFunction f)

virtual std::vector< typename SolverNode< State, GraphT >::Ptr >	solve (const ros::WallDuration &timeout=ros::WallDuration(1000000000.0))

Public Member Functions inherited from jsk_footstep_planner::AStarSolver< GraphT >
	AStarSolver (GraphPtr graph)

virtual double	gn (SolverNodePtr n)

virtual double	hn (SolverNodePtr n)

virtual void	setHeuristic (HeuristicFunction h)

Public Member Functions inherited from jsk_footstep_planner::BestFirstSearchSolver< GraphT >
	BestFirstSearchSolver (GraphPtr graph)

virtual bool	isOpenListEmpty ()

virtual SolverNodePtr	popFromOpenList ()

Public Member Functions inherited from jsk_footstep_planner::Solver< GraphT >
virtual void	addToCloseList (StatePtr state, double cost=0)

virtual void	addToOpenList (std::vector< SolverNodePtr > nodes)

virtual bool	findInCloseList (StatePtr state, double &cost)

virtual bool	removeFromCloseList (StatePtr state)

virtual void	setVerbose (bool v)

	Solver ()

	Solver (GraphPtr graph)

Protected Attributes
const double	cost_weight_

FootstepStateDiscreteCloseList	footstep_close_list_

const double	heuristic_weight_

bool	is_cancelled_

bool	is_set_profile_function_

unsigned int	loop_counter_

ProfileFunction	profile_function_

unsigned int	profile_period_

Protected Attributes inherited from jsk_footstep_planner::AStarSolver< GraphT >
HeuristicFunction	heuristic_

Protected Attributes inherited from jsk_footstep_planner::BestFirstSearchSolver< GraphT >
OpenList	open_list_

Protected Attributes inherited from jsk_footstep_planner::Solver< GraphT >
SolveList	close_list_

GraphPtr	graph_

bool	verbose_

Detailed Description

template<class GraphT>
class jsk_footstep_planner::FootstepAStarSolver< GraphT >

Definition at line 48 of file footstep_astar_solver.h.

Member Typedef Documentation

template<class GraphT>

typedef GraphT::Ptr jsk_footstep_planner::FootstepAStarSolver< GraphT >::GraphPtr

Definition at line 54 of file footstep_astar_solver.h.

template<class GraphT>

typedef std::priority_queue<SolverNodePtr, std::vector<SolverNodePtr>, std::greater<SolverNodePtr> > jsk_footstep_planner::FootstepAStarSolver< GraphT >::OpenList

Definition at line 59 of file footstep_astar_solver.h.

template<class GraphT>

typedef boost::function<void(FootstepAStarSolver&, GraphPtr)> jsk_footstep_planner::FootstepAStarSolver< GraphT >::ProfileFunction

Definition at line 56 of file footstep_astar_solver.h.

template<class GraphT>

typedef boost::shared_ptr<FootstepAStarSolver> jsk_footstep_planner::FootstepAStarSolver< GraphT >::Ptr

Definition at line 51 of file footstep_astar_solver.h.

template<class GraphT>

typedef SolverNode<State, GraphT>::Ptr jsk_footstep_planner::FootstepAStarSolver< GraphT >::SolverNodePtr

Definition at line 55 of file footstep_astar_solver.h.

template<class GraphT>

typedef GraphT::StateT jsk_footstep_planner::FootstepAStarSolver< GraphT >::State

Definition at line 52 of file footstep_astar_solver.h.

template<class GraphT>

typedef GraphT::StateT::Ptr jsk_footstep_planner::FootstepAStarSolver< GraphT >::StatePtr

Definition at line 53 of file footstep_astar_solver.h.

Constructor & Destructor Documentation

template<class GraphT>

jsk_footstep_planner::FootstepAStarSolver< GraphT >::FootstepAStarSolver	(	GraphPtr	graph,
		size_t	x_num,
		size_t	y_num,
		size_t	theta_num,
		unsigned int	profile_period = `1024`,
		double	cost_weight = `1.0`,
		double	heuristic_weight = `1.0`
	)

inline

Definition at line 60 of file footstep_astar_solver.h.

Member Function Documentation

template<class GraphT>

virtual void jsk_footstep_planner::FootstepAStarSolver< GraphT >::addToCloseList ( StatePtr s )

inlinevirtual

Definition at line 182 of file footstep_astar_solver.h.

template<class GraphT>

void jsk_footstep_planner::FootstepAStarSolver< GraphT >::addToOpenList ( SolverNodePtr node )

inlinevirtual

Reimplemented from jsk_footstep_planner::BestFirstSearchSolver< GraphT >.

Definition at line 227 of file footstep_astar_solver.h.

template<class GraphT>

virtual void jsk_footstep_planner::FootstepAStarSolver< GraphT >::cancelSolve ( )

inlinevirtual

Definition at line 171 of file footstep_astar_solver.h.

template<class GraphT>

template<class PointT >

void jsk_footstep_planner::FootstepAStarSolver< GraphT >::closeListToPointCloud ( pcl::PointCloud< PointT > & output_cloud )

inline

Definition at line 206 of file footstep_astar_solver.h.

template<class GraphT>

virtual bool jsk_footstep_planner::FootstepAStarSolver< GraphT >::findInCloseList ( StatePtr s )

inlinevirtual

Reimplemented from jsk_footstep_planner::Solver< GraphT >.

Definition at line 177 of file footstep_astar_solver.h.

template<class GraphT>

virtual double jsk_footstep_planner::FootstepAStarSolver< GraphT >::fn ( SolverNodePtr n )

inlinevirtual

Reimplemented from jsk_footstep_planner::AStarSolver< GraphT >.

Definition at line 76 of file footstep_astar_solver.h.

template<class GraphT>

virtual FootstepStateDiscreteCloseList jsk_footstep_planner::FootstepAStarSolver< GraphT >::getCloseList ( )

inlinevirtual

Definition at line 189 of file footstep_astar_solver.h.

template<class GraphT>

virtual OpenList jsk_footstep_planner::FootstepAStarSolver< GraphT >::getOpenList ( )

inlinevirtual

Definition at line 187 of file footstep_astar_solver.h.

template<class GraphT>

virtual bool jsk_footstep_planner::FootstepAStarSolver< GraphT >::isOK	(	const ros::WallTime &	start_time,
		const ros::WallDuration &	timeout
	)

inlinevirtual

Reimplemented from jsk_footstep_planner::Solver< GraphT >.

Definition at line 196 of file footstep_astar_solver.h.

template<class GraphT>

template<class PointT >

void jsk_footstep_planner::FootstepAStarSolver< GraphT >::openListToPointCloud ( pcl::PointCloud< PointT > & output_cloud )

inline

Definition at line 212 of file footstep_astar_solver.h.

template<class GraphT>

virtual void jsk_footstep_planner::FootstepAStarSolver< GraphT >::setProfileFunction ( ProfileFunction f )

inlinevirtual

Definition at line 190 of file footstep_astar_solver.h.

template<class GraphT>

virtual std::vector<typename SolverNode<State, GraphT>::Ptr> jsk_footstep_planner::FootstepAStarSolver< GraphT >::solve ( const ros::WallDuration & timeout = ros::WallDuration(1000000000.0) )