Public Member Functions | Public Attributes | Static Public Attributes | Protected Member Functions | Protected Attributes | List of all members
LCPNode Class Reference
Inheritance diagram for LCPNode:
Inheritance graph
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Public Member Functions

 LCPNode (LCP *_lcp, LCPNode *parent_lcp, const fVec &_q_old, double _max_error, const vector< int > &_w2a, const vector< int > &_w2g, const vector< int > &_z2a, const vector< int > &_z2g, int _n_steps, int _js, int _jr, double _cost)
 
int NumStep ()
 
 ~LCPNode ()
 
- Public Member Functions inherited from dpNode
double AstarCost ()
 
dpNodeBrother ()
 
dpNodeChild ()
 
double Cost ()
 
int Depth (dpNode *target_p=0)
 
 dpNode ()
 
dpNodeGetParent (int id)
 
int ID ()
 
dpNodeParent ()
 
dpQueueQueue ()
 
double TotalAstarCost ()
 
double TotalCost ()
 
virtual ~dpNode ()
 

Public Attributes

fMat Maa_inv
 
fVec q_old
 
vector< intw2a
 
vector< intw2g
 
vector< intz2a
 
vector< intz2g
 

Static Public Attributes

static int num_errors = 0
 
static int num_loops = 0
 

Protected Member Functions

double calc_astar_cost (dpNode *potential_parent)
 Compute the A-star cost at the node (optional). More...
 
double calc_cost ()
 Compute the local cost at the node. More...
 
void calc_new_q (const fVec &q, const fMat &m_jr, int piv, fVec &q_new)
 
int create_child_nodes (dpNode **&nodes)
 Create (potential) child nodes. More...
 
int is_goal ()
 Check if the state is goal. More...
 
double min_new_q (const fVec &q, const fMat &m_jr, int piv, double max_error, int z0_index=-1, double *new_q_z0=0)
 
int same_state (dpNode *refnode)
 Check if the node's state is the same as refnode. (to remove duplicates) More...
 
- Protected Member Functions inherited from dpNode
void add_child (dpNode *n)
 
virtual void dump (ostream &ost)
 
void dump_all (ostream &ost)
 
void dump_trajectory (ostream &ost)
 
dpNodenext_breadth (dpNode *refnode)
 
dpNodenext_depth (dpNode *first_child=0)
 
int open (int _max_nodes, int _max_goals)
 
void remove ()
 
void remove_single ()
 

Protected Attributes

std::list< inta_in_z
 
std::list< intg_in_w
 
int jr
 
int js
 
LCPlcp
 
double max_error
 
int n_steps
 
int n_vars
 
int new_jr
 
int terminate
 
int yr2a
 
int yr2g
 
int ys2a
 
int ys2g
 
- Protected Attributes inherited from dpNode
int active
 
double astar_cost
 
dpNodebrother
 
dpNodechild
 
double cost
 
int depth
 
dpMaindp_main
 
int id
 
dpNodeparent
 
dpQueuequeue
 
double total_astar_cost
 
double total_cost
 

Detailed Description

Definition at line 51 of file lcp_pivot.cpp.

Constructor & Destructor Documentation

◆ LCPNode()

LCPNode::LCPNode ( LCP _lcp,
LCPNode parent_lcp,
const fVec _q_old,
double  _max_error,
const vector< int > &  _w2a,
const vector< int > &  _w2g,
const vector< int > &  _z2a,
const vector< int > &  _z2g,
int  _n_steps,
int  _js,
int  _jr,
double  _cost 
)
inline

Definition at line 55 of file lcp_pivot.cpp.

◆ ~LCPNode()

LCPNode::~LCPNode ( )
inline

Definition at line 214 of file lcp_pivot.cpp.

Member Function Documentation

◆ calc_astar_cost()

double LCPNode::calc_astar_cost ( dpNode potential_parent)
inlineprotectedvirtual

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

Reimplemented from dpNode.

Definition at line 471 of file lcp_pivot.cpp.

◆ calc_cost()

double LCPNode::calc_cost ( )
inlineprotectedvirtual

Compute the local cost at the node.

Implements dpNode.

Definition at line 467 of file lcp_pivot.cpp.

◆ calc_new_q()

void LCPNode::calc_new_q ( const fVec q,
const fMat m_jr,
int  piv,
fVec q_new 
)
inlineprotected

Definition at line 498 of file lcp_pivot.cpp.

◆ create_child_nodes()

int LCPNode::create_child_nodes ( dpNode **&  nodes)
inlineprotectedvirtual

Create (potential) child nodes.

Create (potential) child nodes.

Parameters
[out]nodesarray of pointers to the child nodes

Implements dpNode.

Definition at line 234 of file lcp_pivot.cpp.

◆ is_goal()

int LCPNode::is_goal ( )
inlineprotectedvirtual

Check if the state is goal.

Implements dpNode.

Definition at line 494 of file lcp_pivot.cpp.

◆ min_new_q()

double LCPNode::min_new_q ( const fVec q,
const fMat m_jr,
int  piv,
double  max_error,
int  z0_index = -1,
double *  new_q_z0 = 0 
)
inlineprotected

Definition at line 508 of file lcp_pivot.cpp.

◆ NumStep()

int LCPNode::NumStep ( )
inline

Definition at line 217 of file lcp_pivot.cpp.

◆ same_state()

int LCPNode::same_state ( dpNode refnode)
inlineprotectedvirtual

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

Implements dpNode.

Definition at line 476 of file lcp_pivot.cpp.

Member Data Documentation

◆ a_in_z

std::list<int> LCPNode::a_in_z
protected

Definition at line 231 of file lcp_pivot.cpp.

◆ g_in_w

std::list<int> LCPNode::g_in_w
protected

Definition at line 231 of file lcp_pivot.cpp.

◆ jr

int LCPNode::jr
protected

Definition at line 543 of file lcp_pivot.cpp.

◆ js

int LCPNode::js
protected

Definition at line 543 of file lcp_pivot.cpp.

◆ lcp

LCP* LCPNode::lcp
protected

Definition at line 546 of file lcp_pivot.cpp.

◆ Maa_inv

fMat LCPNode::Maa_inv

Definition at line 222 of file lcp_pivot.cpp.

◆ max_error

double LCPNode::max_error
protected

Definition at line 542 of file lcp_pivot.cpp.

◆ n_steps

int LCPNode::n_steps
protected

Definition at line 548 of file lcp_pivot.cpp.

◆ n_vars

int LCPNode::n_vars
protected

Definition at line 545 of file lcp_pivot.cpp.

◆ new_jr

int LCPNode::new_jr
protected

Definition at line 232 of file lcp_pivot.cpp.

◆ num_errors

int LCPNode::num_errors = 0
static

Definition at line 229 of file lcp_pivot.cpp.

◆ num_loops

int LCPNode::num_loops = 0
static

Definition at line 228 of file lcp_pivot.cpp.

◆ q_old

fVec LCPNode::q_old

Definition at line 224 of file lcp_pivot.cpp.

◆ terminate

int LCPNode::terminate
protected

Definition at line 547 of file lcp_pivot.cpp.

◆ w2a

vector<int> LCPNode::w2a

Definition at line 225 of file lcp_pivot.cpp.

◆ w2g

vector<int> LCPNode::w2g

Definition at line 225 of file lcp_pivot.cpp.

◆ yr2a

int LCPNode::yr2a
protected

Definition at line 544 of file lcp_pivot.cpp.

◆ yr2g

int LCPNode::yr2g
protected

Definition at line 544 of file lcp_pivot.cpp.

◆ ys2a

int LCPNode::ys2a
protected

Definition at line 544 of file lcp_pivot.cpp.

◆ ys2g

int LCPNode::ys2g
protected

Definition at line 544 of file lcp_pivot.cpp.

◆ z2a

vector<int> LCPNode::z2a

Definition at line 225 of file lcp_pivot.cpp.

◆ z2g

vector<int> LCPNode::z2g

Definition at line 225 of file lcp_pivot.cpp.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:07