#include <state_space.h>

Public Types
typedef boost::shared_ptr< StateSpace >	ConstPtr

typedef boost::shared_ptr< StateSpace >	Ptr

Public Member Functions
bool	closeToGoal (const PlanningState &from) const

bool	closeToStart (const PlanningState &from) const

PlanningState *	createHashEntryIfNotExists (const PlanningState &s)

PlanningState *	createNewHashEntry (const State &s)
	Wrapper for footstep_planner_environment::createNewHashEntry(PlanningState). More...

PlanningState *	createNewHashEntry (const PlanningState &s)
	Creates a new planning state for 's' and inserts it into the maps (PlanningState::ivStateId2State, PlanningState::ivpStateHash2State) More...

bool	getGoalState (State &left, State &right) const

bool	getGoalState (State &robot) const

PlanningState *	getHashEntry (const State &s)
	Wrapper for footstep_planner_environment::getHashEntry(PlanningState). More...

PlanningState *	getHashEntry (const PlanningState &s)

exp_states_iter_t	getRandomStatesEnd ()

exp_states_iter_t	getRandomStatesStart ()

bool	getStartState (State &left, State &right) const

bool	getStartState (State &robot) const

bool	getState (unsigned int id, State &s) const
	Try to receive a state with a certain ID. More...

bool	getStepCost (const State &stand_foot, const State &swing_foot_before, const State &swing_foot_after, double &cost, double &risk) const

bool	getStepCost (const State &stand_foot, const State &swing_foot_before, const State &swing_foot_after, int &cost, int &risk) const

bool	getStepCost (const State &stand_foot, const State &swing_foot_before, const State &swing_foot_after, int &cost) const

void	reset ()

void	setFrameId (const std::string &frame_id)

void	setPlannerStartAndGoal (unsigned int start_foot_selection)

	StateSpace (const EnvironmentParameters &params, std::vector< int * > &state_ID2_index_mapping)

std::pair< int, int >	updateGoal (const State &foot_left, const State &foot_right)

std::pair< int, int >	updateStart (const State &foot_left, const State &right_right)

virtual	~StateSpace ()

Public Attributes
std::string	frame_id

PlanningState *	goal_foot_left

PlanningState *	goal_foot_right

boost::shared_mutex	hash_table_shared_mutex

bool	ivHeuristicExpired
	The heuristic function used by the planner. More...

int	ivIdGoalFootLeft

int	ivIdGoalFootRight

int	ivIdPlanningGoal

int	ivIdPlanningStart
	ID of Start and Goal foot chosen by planner. More...

int	ivIdStartFootLeft

int	ivIdStartFootRight

std::vector< PlanningState * > *	ivpStateHash2State
	Maps from a hash tag to a list of corresponding planning states. (Used in footstep_planner_environment to identify a certain PlanningState.) More...

const int	ivRandomNodeDist
	distance of random neighbors for R* (discretized in cells) More...

exp_states_t	ivRandomStates
	random intermediate states for R* More...

std::vector< int >	ivStateArea

std::vector< const PlanningState * >	ivStateId2State
	Maps from an ID to the corresponding PlanningState. (Used in the SBPL to access a certain PlanningState.) More...

const EnvironmentParameters &	params

PlanningState *	start_foot_left

PlanningState *	start_foot_right

std::vector< int * > &	state_ID2_index_mapping

Detailed Description

Definition at line 82 of file state_space.h.

Member Typedef Documentation

typedef boost::shared_ptr<StateSpace> vigir_footstep_planning::StateSpace::ConstPtr

Definition at line 93 of file state_space.h.

typedef boost::shared_ptr<StateSpace> vigir_footstep_planning::StateSpace::Ptr

Definition at line 92 of file state_space.h.

Constructor & Destructor Documentation

vigir_footstep_planning::StateSpace::StateSpace	(	const EnvironmentParameters &	params,
		std::vector< int * > &	state_ID2_index_mapping
	)

Definition at line 14 of file state_space.cpp.

vigir_footstep_planning::StateSpace::~StateSpace ( )

virtual

Definition at line 30 of file state_space.cpp.

Member Function Documentation

bool vigir_footstep_planning::StateSpace::closeToGoal ( const PlanningState & from ) const

Returns: True iff 'goal' can be reached by an arbitrary footstep. (Used for forward planning.)

Definition at line 345 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::closeToStart ( const PlanningState & from ) const

Returns: True iff 'start' can be reached by an arbitrary footstep. (Used for backward planning.)

Definition at line 309 of file state_space.cpp.

PlanningState * vigir_footstep_planning::StateSpace::createHashEntryIfNotExists ( const PlanningState & s )

Definition at line 300 of file state_space.cpp.

PlanningState * vigir_footstep_planning::StateSpace::createNewHashEntry ( const State & s )

Wrapper for footstep_planner_environment::createNewHashEntry(PlanningState).

Definition at line 246 of file state_space.cpp.

PlanningState * vigir_footstep_planning::StateSpace::createNewHashEntry ( const PlanningState & s )

Creates a new planning state for 's' and inserts it into the maps (PlanningState::ivStateId2State, PlanningState::ivpStateHash2State)

Returns: A pointer to the newly created PlanningState.

Definition at line 252 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getGoalState	(	State &	left,
		State &	right
	)		const

Definition at line 220 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getGoalState ( State & robot ) const

Definition at line 229 of file state_space.cpp.

PlanningState * vigir_footstep_planning::StateSpace::getHashEntry ( const State & s )

Wrapper for footstep_planner_environment::getHashEntry(PlanningState).

Definition at line 280 of file state_space.cpp.

PlanningState * vigir_footstep_planning::StateSpace::getHashEntry ( const PlanningState & s )

Returns: The pointer to the planning state 's' stored in footstep_planner_environment::ivpStateHash2State.

Definition at line 286 of file state_space.cpp.

exp_states_iter_t vigir_footstep_planning::StateSpace::getRandomStatesEnd ( )

inline

Definition at line 118 of file state_space.h.

exp_states_iter_t vigir_footstep_planning::StateSpace::getRandomStatesStart ( )

inline

Definition at line 113 of file state_space.h.

bool vigir_footstep_planning::StateSpace::getStartState	(	State &	left,
		State &	right
	)		const

Definition at line 194 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getStartState ( State & robot ) const

Definition at line 203 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getState	(	unsigned int	id,
		State &	s
	)		const

Try to receive a state with a certain ID.

Returns: True iff there is a state with such an ID.

Definition at line 185 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getStepCost	(	const State &	stand_foot,
		const State &	swing_foot_before,
		const State &	swing_foot_after,
		double &	cost,
		double &	risk
	)		const

Returns: computes step cost based on the swing_foot from 'before' to 'after' while standing on stand_foot

Definition at line 381 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getStepCost	(	const State &	stand_foot,
		const State &	swing_foot_before,
		const State &	swing_foot_after,
		int &	cost,
		int &	risk
	)		const

Definition at line 410 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getStepCost	(	const State &	stand_foot,
		const State &	swing_foot_before,
		const State &	swing_foot_after,
		int &	cost
	)		const

Definition at line 422 of file state_space.cpp.

void vigir_footstep_planning::StateSpace::reset ( )

Definition at line 39 of file state_space.cpp.

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

Definition at line 71 of file state_space.cpp.

void vigir_footstep_planning::StateSpace::setPlannerStartAndGoal ( unsigned int start_foot_selection )

Definition at line 144 of file state_space.cpp.

std::pair< int, int > vigir_footstep_planning::StateSpace::updateGoal	(	const State &	foot_left,
		const State &	foot_right
	)

Definition at line 76 of file state_space.cpp.

std::pair< int, int > vigir_footstep_planning::StateSpace::updateStart	(	const State &	foot_left,
		const State &	right_right
	)

Definition at line 110 of file state_space.cpp.

Member Data Documentation

std::string vigir_footstep_planning::StateSpace::frame_id

Definition at line 166 of file state_space.h.

PlanningState* vigir_footstep_planning::StateSpace::goal_foot_left

Definition at line 178 of file state_space.h.

PlanningState* vigir_footstep_planning::StateSpace::goal_foot_right

Definition at line 179 of file state_space.h.

boost::shared_mutex vigir_footstep_planning::StateSpace::hash_table_shared_mutex

mutable

Definition at line 209 of file state_space.h.

bool vigir_footstep_planning::StateSpace::ivHeuristicExpired

The heuristic function used by the planner.

Definition at line 202 of file state_space.h.

int vigir_footstep_planning::StateSpace::ivIdGoalFootLeft

Definition at line 181 of file state_space.h.

int vigir_footstep_planning::StateSpace::ivIdGoalFootRight

Definition at line 182 of file state_space.h.

int vigir_footstep_planning::StateSpace::ivIdPlanningGoal

Definition at line 170 of file state_space.h.

int vigir_footstep_planning::StateSpace::ivIdPlanningStart

ID of Start and Goal foot chosen by planner.

Definition at line 169 of file state_space.h.

int vigir_footstep_planning::StateSpace::ivIdStartFootLeft

Definition at line 175 of file state_space.h.

int vigir_footstep_planning::StateSpace::ivIdStartFootRight

Definition at line 176 of file state_space.h.

std::vector<PlanningState*>* vigir_footstep_planning::StateSpace::ivpStateHash2State

Maps from a hash tag to a list of corresponding planning states. (Used in footstep_planner_environment to identify a certain PlanningState.)

Definition at line 199 of file state_space.h.

const int vigir_footstep_planning::StateSpace::ivRandomNodeDist

distance of random neighbors for R* (discretized in cells)

Definition at line 205 of file state_space.h.

exp_states_t vigir_footstep_planning::StateSpace::ivRandomStates

random intermediate states for R*

Definition at line 207 of file state_space.h.

std::vector<int> vigir_footstep_planning::StateSpace::ivStateArea

Definition at line 184 of file state_space.h.

std::vector<const PlanningState*> vigir_footstep_planning::StateSpace::ivStateId2State

Maps from an ID to the corresponding PlanningState. (Used in the SBPL to access a certain PlanningState.)

Definition at line 192 of file state_space.h.

const EnvironmentParameters& vigir_footstep_planning::StateSpace::params

Definition at line 165 of file state_space.h.

PlanningState* vigir_footstep_planning::StateSpace::start_foot_left

Definition at line 172 of file state_space.h.

PlanningState* vigir_footstep_planning::StateSpace::start_foot_right

Definition at line 173 of file state_space.h.

std::vector<int*>& vigir_footstep_planning::StateSpace::state_ID2_index_mapping

Definition at line 186 of file state_space.h.

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

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation