A class representing the robot's pose (i.e. position and orientation) in the underlying SBPL. More precisely a planning state is a discrete representation of the robot's supporting leg. More...

#include <PlanningState.h>

Public Member Functions
unsigned int	getHashTag () const
int	getId () const
Leg	getLeg () const
State	getState (double cell_size, int num_angle_bins) const
	Computes the continuous State the PlanningState represents.
int	getTheta () const
int	getX () const
int	getY () const
bool	operator!= (const PlanningState &s2) const
	Compare two states on inequality of x, y, theta, leg by comparing the hash tags of the states.
bool	operator== (const PlanningState &s2) const
	Compare two states on equality of x, y, theta, leg. Makes first use of the non-unique hash tag to rule out unequal states.
	PlanningState (double x, double y, double theta, Leg leg, double cell_size, int num_angle_bins, int max_hash_size)
	x, y and theta represent the global (continuous) position and orientation of the robot's support leg.
	PlanningState (int x, int y, int theta, Leg leg, int max_hash_size)
	x, y and theta as discrete bin values (as used internally by the planner).
	PlanningState (const State &s, double cell_size, int num_angle_bins, int max_hash_size)
	Create a (discrete) PlanningState from a (continuous) State.
	PlanningState (const PlanningState &s)
	Copy constructor.
void	setId (unsigned int id)
	Used to attach such an unique ID to the planning state. (This cannot be done in the constructor since often such an ID is not known when the planning state is created.)
	~PlanningState ()
Private Attributes
unsigned int	ivHashTag
int	ivId
	The (unique) ID of the planning state.
Leg	ivLeg
	The supporting leg.
int	ivTheta
	Number of the bin the orientation is fitted into.
int	ivX
	Value of the grid cell the position's x value is fitted into.
int	ivY
	Value of the grid cell the position's y value is fitted into.

Detailed Description

A class representing the robot's pose (i.e. position and orientation) in the underlying SBPL. More precisely a planning state is a discrete representation of the robot's supporting leg.

Since SBPL is working on discretized states the planning states are also discretized positions and orientations. This is done by fitting the positions into a grid and the orientations into bins. (NOTE: the resolution of the planning cells is likely to differ from the resolution of the grid map.)

The SBPL can access each planning state via an unique ID. Furthermore each planning state can be identified by an (ununique) hash tag generated from its position, location and supporting leg.

Definition at line 48 of file PlanningState.h.

Constructor & Destructor Documentation

footstep_planner::PlanningState::PlanningState	(	double	x,
		double	y,
		double	theta,
		Leg	leg,
		double	cell_size,
		int	num_angle_bins,
		int	max_hash_size
	)

x, y and theta represent the global (continuous) position and orientation of the robot's support leg.

Parameters:

leg	The supporting leg.
cell_size	The size of each grid cell discretizing the position.
num_angle_bins	The number of bins discretizing the orientation.
max_hash_size

Definition at line 32 of file PlanningState.cpp.

footstep_planner::PlanningState::PlanningState	(	int	x,
		int	y,
		int	theta,
		Leg	leg,
		int	max_hash_size
	)

x, y and theta as discrete bin values (as used internally by the planner).

Definition at line 44 of file PlanningState.cpp.

footstep_planner::PlanningState::PlanningState	(	const State &	s,
		double	cell_size,
		int	num_angle_bins,
		int	max_hash_size
	)

Create a (discrete) PlanningState from a (continuous) State.

Definition at line 55 of file PlanningState.cpp.

footstep_planner::PlanningState::PlanningState ( const PlanningState & s )

Copy constructor.

Definition at line 66 of file PlanningState.cpp.

footstep_planner::PlanningState::~PlanningState ( )

Definition at line 76 of file PlanningState.cpp.

Member Function Documentation

unsigned int footstep_planner::PlanningState::getHashTag ( ) const [inline]

Returns:: The (non-unique) hash tag used to identify the planning state.

Definition at line 108 of file PlanningState.h.

int footstep_planner::PlanningState::getId ( ) const [inline]

Returns:: The (unique) ID used within the SBPL to access the planning state.

Definition at line 114 of file PlanningState.h.

Leg footstep_planner::PlanningState::getLeg ( ) const [inline]

Definition at line 99 of file PlanningState.h.

State footstep_planner::PlanningState::getState	(	double	cell_size,
		int	num_angle_bins
	)		const

Computes the continuous State the PlanningState represents.

Definition at line 103 of file PlanningState.cpp.

int footstep_planner::PlanningState::getTheta ( ) const [inline]

Definition at line 100 of file PlanningState.h.

int footstep_planner::PlanningState::getX ( ) const [inline]

Definition at line 101 of file PlanningState.h.

int footstep_planner::PlanningState::getY ( ) const [inline]

Definition at line 102 of file PlanningState.h.

bool footstep_planner::PlanningState::operator!= ( const PlanningState & s2 ) const

Compare two states on inequality of x, y, theta, leg by comparing the hash tags of the states.

Definition at line 95 of file PlanningState.cpp.

bool footstep_planner::PlanningState::operator== ( const PlanningState & s2 ) const

Compare two states on equality of x, y, theta, leg. Makes first use of the non-unique hash tag to rule out unequal states.

Definition at line 81 of file PlanningState.cpp.

void footstep_planner::PlanningState::setId ( unsigned int id ) [inline]

Used to attach such an unique ID to the planning state. (This cannot be done in the constructor since often such an ID is not known when the planning state is created.)

Definition at line 97 of file PlanningState.h.