coverage_3d_planning: JointGTSPSolver.h Source File

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00001 
00004 #ifndef JOINTGTSPSOLVER_H_
00005 #define JOINTGTSPSOLVER_H_
00006 
00007 #include<surfacelet/SurfacePatch.h>
00008 #include<coverage_3d_arm_navigation/TrajectoryPlanner.h>
00009 #include<coverage_3d_planning/SolverInterface.h>
00010 #include<tf/tf.h>
00011 
00012 class JointGTSPSolver : public SolverInterface{
00013 public:
00014     JointGTSPSolver();
00015     JointGTSPSolver(double max_adjacency, std::string tsp_type);
00016 
00017     void getSolution(std::vector<std::vector<double> >& joint_path, std::vector<tf::Pose>& pose_path, std::vector<
00018         unsigned int>& action, std::vector<unsigned int>& res_traj);
00019     void getActions(const std::vector<unsigned int>& traj, std::vector<unsigned int>& actions);
00020 
00021 private:
00022 
00023     void transformGraphToGTSP(const Eigen::MatrixXi& adj_bool, const std::vector<SurfacePatch>& patches,
00024         const std::vector<std::vector<std::vector<std::vector<double> > > >& coll_free_ik, Eigen::VectorXi& mapping,
00025         Eigen::MatrixXi& new_adj_bool, Eigen::MatrixXf& new_adj_float);
00026     void transformGTSPToTSP(const Eigen::VectorXi& multinode_mapping, Eigen::MatrixXi& adj_bool,
00027         Eigen::MatrixXf& adj_float);
00028     void mapGTSPIndexToMultinode(const Eigen::VectorXi& multinode_mapping, const std::vector<unsigned int>& traj,
00029         std::vector<unsigned int>& multinode_traj);
00030     unsigned int mapGTSPIndexToMultinode(const Eigen::VectorXi& multinode_mapping, unsigned int node);
00031     void insertStartIntoWeights(const Eigen::MatrixXf& weights, const Eigen::VectorXi& multinode_mapping,
00032             Eigen::MatrixXf& new_weights);
00033     void getJointPoses(const Eigen::VectorXi& multinode_mapping,
00034         const std::vector<unsigned int>& traj, std::vector<std::vector<double> >& joint_path);
00035 };
00036 
00037 #endif /* JOINTGTSPSOLVER_H_ */