A class defining a footstep planner environment for humanoid robots used by the SBPL to perform planning tasks. More...

#include <FootstepPlannerEnvironment.h>

Classes
struct	IntPairHash
struct	less
	< operator for planning states. More...
Public Types
typedef exp_states_2d_t::const_iterator	exp_states_2d_iter_t
typedef std::tr1::unordered_set < std::pair< int, int > , IntPairHash >	exp_states_2d_t
typedef exp_states_t::const_iterator	exp_states_iter_t
typedef std::vector< int >	exp_states_t
Public Member Functions
bool	AreEquivalent (int StateID1, int StateID2)
	FootstepPlannerEnvironment (const environment_params &params)
exp_states_2d_iter_t	getExpandedStatesEnd ()
exp_states_2d_iter_t	getExpandedStatesStart ()
int	GetFromToHeuristic (int FromStateID, int ToStateID)
int	GetGoalHeuristic (int stateID)
int	getNumExpandedStates ()
void	GetPreds (int TargetStateID, std::vector< int > PredIDV, std::vector< int > CostV)
	Calculates the predecessor states and the corresponding costs when reversing the footstep set on the planning state TargetStateID. (Used for backward planning.)
void	getPredsOfGridCells (const std::vector< State > &changed_states, std::vector< int > *pred_ids)
virtual void	GetRandomPredsatDistance (int TargetStateID, std::vector< int > PredIDV, std::vector< int > CLowV)
	Used for RStar: generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment.
exp_states_iter_t	getRandomStatesEnd ()
exp_states_iter_t	getRandomStatesStart ()
virtual void	GetRandomSuccsatDistance (int SourceStateID, std::vector< int > SuccIDV, std::vector< int > CLowV)
	Used for RStar: generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment.
int	GetStartHeuristic (int stateID)
bool	getState (unsigned int id, State *s)
	Try to receive a state with a certain ID.
void	GetSuccs (int SourceStateID, std::vector< int > SuccIDV, std::vector< int > CostV)
	Calculates the successor states and the corresponding costs when performing the footstep set on the planning state SourceStateID. (Used for forward planning.)
void	getSuccsOfGridCells (const std::vector< State > &changed_states, std::vector< int > *succ_ids)
void	GetSuccsTo (int SourceStateID, int goalStateID, std::vector< int > SuccIDV, std::vector< int > CostV)
	Testing, for R*.
bool	InitializeEnv (const char *sEnvFile)
bool	InitializeMDPCfg (MDPConfig *MDPCfg)
bool	occupied (const State &s)
void	PrintEnv_Config (FILE *fOut)
void	PrintState (int stateID, bool bVerbose, FILE *fOut)
bool	reachable (const PlanningState &from, const PlanningState &to)
void	reset ()
	Resets the current planning task (i.e. the start and goal poses).
void	SetAllActionsandAllOutcomes (CMDPSTATE *state)
void	SetAllPreds (CMDPSTATE *state)
int	SizeofCreatedEnv ()
std::pair< int, int >	updateGoal (const State &foot_left, const State &foot_right)
	Update the robot's feet poses in the goal state.
void	updateHeuristicValues ()
	Update the heuristic values (e.g. after the map has changed). The environment takes care that the update is only done when it is necessary.
void	updateMap (gridmap_2d::GridMap2DPtr map)
std::pair< int, int >	updateStart (const State &foot_left, const State &right_right)
	Update the robot's feet poses in the start state.
virtual	~FootstepPlannerEnvironment ()
Static Public Attributes
static const int	cvMmScale = 1000
	Used to scale continuous values in meter to discrete values in mm.
Protected Member Functions
bool	closeToGoal (const PlanningState &from)
bool	closeToStart (const PlanningState &from)
const PlanningState *	createHashEntryIfNotExists (const PlanningState &s)
const PlanningState *	createNewHashEntry (const State &s)
	Wrapper for FootstepPlannerEnvironment::createNewHashEntry(PlanningState).
const PlanningState *	createNewHashEntry (const PlanningState &s)
	Creates a new planning state for 's' and inserts it into the maps (PlanningState::ivStateId2State, PlanningState::ivpStateHash2State)
int	GetFromToHeuristic (const PlanningState &from, const PlanningState &to)
const PlanningState *	getHashEntry (const State &s)
	Wrapper for FootstepPlannerEnvironment::getHashEntry(PlanningState).
const PlanningState *	getHashEntry (const PlanningState &s)
void	GetRandomNeighs (const PlanningState currentState, std::vector< int > NeighIDV, std::vector< int > *CLowV, int nNumofNeighs, int nDist_c, bool bSuccs)
bool	occupied (const PlanningState &s)
void	setStateArea (const PlanningState &left, const PlanningState &right)
int	stepCost (const PlanningState &a, const PlanningState &b)
Protected Attributes
const double	ivCellSize
	The size of each grid cell used to discretize the robot positions.
const int	ivCollisionCheckAccuracy
	Whether to check just the foot's inner circle (0), the hole outer circle (1) or exactly the foot's bounding box (2) for collision.
exp_states_2d_t	ivExpandedStates
const double	ivFootsizeX
	Size of the foot in x direction.
const double	ivFootsizeY
	Size of the foot in y direction.
const std::vector< Footstep > &	ivFootstepSet
	The set of footsteps used for the path planning.
const bool	ivForwardSearch
	Whether to use forward search (1) or backward search (0).
const int	ivHashTableSize
	Size of the hash table storing the planning states expanded during the search. (Also referred to by max_hash_size.)
const boost::shared_ptr < Heuristic >	ivHeuristicConstPtr
	The heuristic function used by the planner.
bool	ivHeuristicExpired
	Indicates if heuristic has to be updated.
double	ivHeuristicScale
int	ivIdGoalFootLeft
	ID of the goal pose of the left foot.
int	ivIdGoalFootRight
	ID of the goal pose of the right foot.
int	ivIdPlanningGoal
	ID of the planning goal, i.e. dependent on the planning direction (forward/backward) this ID is used to map to the goal/start poses.
int	ivIdStartFootLeft
	ID of the start pose of the left foot.
int	ivIdStartFootRight
	ID of the start pose of the right foot.
boost::shared_ptr < gridmap_2d::GridMap2D >	ivMapPtr
	Pointer to the map.
int	ivMaxFootstepTheta
	The maximal rotation (discretized into bins).
const int	ivMaxFootstepX
	The maximal translation in x direction (discretized in cell size).
const int	ivMaxFootstepY
	The maximal translation in y direction (discretized in cell size).
int	ivMaxInvFootstepTheta
	The minimal rotation (discretized into bins).
const int	ivMaxInvFootstepX
	The minimal translation in x direction (discretized in cell size).
const int	ivMaxInvFootstepY
	The minimal translation in y direction (discretized in cell size).
double	ivMaxStepWidth
const int	ivNumAngleBins
	The number of bins used to discretize the robot orientations.
size_t	ivNumExpandedStates
const int	ivNumRandomNodes
	number of random neighbors for R*
const double	ivOriginFootShiftX
	Shift in x direction from the foot's center.
const double	ivOriginFootShiftY
	Shift in y direction from the foot's center.
std::vector< const PlanningState * > *	ivpStateHash2State
	Maps from a hash tag to a list of corresponding planning states. (Used in FootstepPlannerEnvironment to identify a certain PlanningState.)
bool *	ivpStepRange
const int	ivRandomNodeDist
	distance of random neighbors for R* (discretized in cells)
exp_states_t	ivRandomStates
	random intermediate states for R*
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.)
const int	ivStepCost
	The costs for each step (discretized with the help of cvMmScale).

Detailed Description

A class defining a footstep planner environment for humanoid robots used by the SBPL to perform planning tasks.

The environment keeps track of all the planning states expanded during the search. Each planning state can be accessed via its ID. Furthermore

Definition at line 74 of file FootstepPlannerEnvironment.h.

Member Typedef Documentation

typedef exp_states_2d_t::const_iterator footstep_planner::FootstepPlannerEnvironment::exp_states_2d_iter_t

Definition at line 89 of file FootstepPlannerEnvironment.h.

typedef std::tr1::unordered_set<std::pair<int,int>, IntPairHash > footstep_planner::FootstepPlannerEnvironment::exp_states_2d_t

Definition at line 88 of file FootstepPlannerEnvironment.h.

typedef exp_states_t::const_iterator footstep_planner::FootstepPlannerEnvironment::exp_states_iter_t

Definition at line 87 of file FootstepPlannerEnvironment.h.

typedef std::vector<int> footstep_planner::FootstepPlannerEnvironment::exp_states_t

Definition at line 86 of file FootstepPlannerEnvironment.h.

Constructor & Destructor Documentation

footstep_planner::FootstepPlannerEnvironment::FootstepPlannerEnvironment ( const environment_params & params )

Parameters:

footstep_set	The set of footsteps used for the path planning.
heuristic	The heuristic used by the planner.
footsize_x	Size of the foot in x direction.
footsize_y	Size of the foot in y direction.
origin_foot_shift_x	Shift in x direction from the foot's center.
origin_foot_shift_y	Shift in y direction from the foot's center.
max_footstep_x	The maximal translation in x direction performable by the robot.
max_footstep_y	The maximal translation in y direction performable by the robot.
max_footstep_theta	The maximal rotation performable by the robot.
max_inverse_footstep_x	The minimal translation in x direction performable by the robot.
max_inverse_footstep_y	The minimal translation in y direction performable by the robot.
max_inverse_footstep_theta	The minimal rotation performable by the robot.
step_cost	The costs for each step.
collision_check_accuracy	Whether to check just the foot's circumcircle (0), the incircle (1) or recursively the circumcircle and the incircle for the whole foot (2) for collision.
hash_table_size	Size of the hash table storing the planning states expanded during the search.
cell_size	The size of each grid cell used to discretize the robot positions.
num_angle_bins	The number of bins used to discretize the robot orientations.
forward_search	Whether to use forward search (1) or backward search (0).

Definition at line 26 of file FootstepPlannerEnvironment.cpp.

footstep_planner::FootstepPlannerEnvironment::~FootstepPlannerEnvironment ( ) [virtual]

Definition at line 86 of file FootstepPlannerEnvironment.cpp.

Member Function Documentation

bool footstep_planner::FootstepPlannerEnvironment::AreEquivalent	(	int	StateID1,
		int	StateID2
	)

Returns:: True if two states meet the same condition. Used for R*.

Definition at line 1108 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::closeToGoal ( const PlanningState & from ) [protected]

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

Definition at line 426 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::closeToStart ( const PlanningState & from ) [protected]

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

Definition at line 412 of file FootstepPlannerEnvironment.cpp.

const PlanningState * footstep_planner::FootstepPlannerEnvironment::createHashEntryIfNotExists ( const PlanningState & s ) [protected]

Definition at line 240 of file FootstepPlannerEnvironment.cpp.

const PlanningState * footstep_planner::FootstepPlannerEnvironment::createNewHashEntry ( const State & s ) [protected]

Wrapper for FootstepPlannerEnvironment::createNewHashEntry(PlanningState).

Definition at line 179 of file FootstepPlannerEnvironment.cpp.

const PlanningState * footstep_planner::FootstepPlannerEnvironment::createNewHashEntry ( const PlanningState & s ) [protected]

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 187 of file FootstepPlannerEnvironment.cpp.

exp_states_2d_iter_t footstep_planner::FootstepPlannerEnvironment::getExpandedStatesEnd ( ) [inline]

Definition at line 174 of file FootstepPlannerEnvironment.h.

exp_states_2d_iter_t footstep_planner::FootstepPlannerEnvironment::getExpandedStatesStart ( ) [inline]

Definition at line 169 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::GetFromToHeuristic	(	int	FromStateID,
		int	ToStateID
	)

Returns:: The costs (in mm, truncated as int) to reach the planning state ToStateID from within planning state FromStateID.

Definition at line 598 of file FootstepPlannerEnvironment.cpp.

int footstep_planner::FootstepPlannerEnvironment::GetFromToHeuristic	(	const PlanningState &	from,
		const PlanningState &	to
	)		`[protected]`

Returns:: The costs (in mm, truncated as int) to reach the planning state ToStateID from within planning state FromStateID.

Definition at line 619 of file FootstepPlannerEnvironment.cpp.

int footstep_planner::FootstepPlannerEnvironment::GetGoalHeuristic ( int stateID )

Returns:: The heuristic value to reach the goal from within the planning state stateID (used for forward planning).

Definition at line 628 of file FootstepPlannerEnvironment.cpp.

const PlanningState * footstep_planner::FootstepPlannerEnvironment::getHashEntry ( const State & s ) [protected]

Wrapper for FootstepPlannerEnvironment::getHashEntry(PlanningState).

Definition at line 216 of file FootstepPlannerEnvironment.cpp.

const PlanningState * footstep_planner::FootstepPlannerEnvironment::getHashEntry ( const PlanningState & s ) [protected]

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

Definition at line 224 of file FootstepPlannerEnvironment.cpp.

int footstep_planner::FootstepPlannerEnvironment::getNumExpandedStates ( ) [inline]

Returns:: The number of expanded states during the search.

Definition at line 167 of file FootstepPlannerEnvironment.h.

void footstep_planner::FootstepPlannerEnvironment::GetPreds	(	int	TargetStateID,
		std::vector< int > *	PredIDV,
		std::vector< int > *	CostV
	)

Calculates the predecessor states and the corresponding costs when reversing the footstep set on the planning state TargetStateID. (Used for backward planning.)

Definition at line 635 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::getPredsOfGridCells	(	const std::vector< State > &	changed_states,
		std::vector< int > *	pred_ids
	)

Definition at line 536 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::GetRandomNeighs	(	const PlanningState *	currentState,
		std::vector< int > *	NeighIDV,
		std::vector< int > *	CLowV,
		int	nNumofNeighs,
		int	nDist_c,
		bool	bSuccs
	)		`[protected]`

Definition at line 953 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::GetRandomPredsatDistance	(	int	TargetStateID,
		std::vector< int > *	PredIDV,
		std::vector< int > *	CLowV
	)		`[virtual]`

Used for RStar: generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment.

Definition at line 926 of file FootstepPlannerEnvironment.cpp.

exp_states_iter_t footstep_planner::FootstepPlannerEnvironment::getRandomStatesEnd ( ) [inline]

Definition at line 184 of file FootstepPlannerEnvironment.h.

exp_states_iter_t footstep_planner::FootstepPlannerEnvironment::getRandomStatesStart ( ) [inline]

Definition at line 179 of file FootstepPlannerEnvironment.h.

void footstep_planner::FootstepPlannerEnvironment::GetRandomSuccsatDistance	(	int	SourceStateID,
		std::vector< int > *	SuccIDV,
		std::vector< int > *	CLowV
	)		`[virtual]`

Used for RStar: generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment.

Definition at line 904 of file FootstepPlannerEnvironment.cpp.

int footstep_planner::FootstepPlannerEnvironment::GetStartHeuristic ( int stateID )

Returns:: The heuristic value to reach the start from within the planning state stateID. (Used for backward planning.)

Definition at line 723 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::getState	(	unsigned int	id,
		State *	s
	)

Try to receive a state with a certain ID.

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

Definition at line 302 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::GetSuccs	(	int	SourceStateID,
		std::vector< int > *	SuccIDV,
		std::vector< int > *	CostV
	)

Calculates the successor states and the corresponding costs when performing the footstep set on the planning state SourceStateID. (Used for forward planning.)

Definition at line 730 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::getSuccsOfGridCells	(	const std::vector< State > &	changed_states,
		std::vector< int > *	succ_ids
	)

Definition at line 567 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::GetSuccsTo	(	int	SourceStateID,
		int	goalStateID,
		std::vector< int > *	SuccIDV,
		std::vector< int > *	CostV
	)

Testing, for R*.

Definition at line 821 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::InitializeEnv ( const char * sEnvFile )

Definition at line 1135 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::InitializeMDPCfg ( MDPConfig * MDPCfg )

Definition at line 1144 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::occupied ( const State & s )

Returns:: True iff the foot in State s is colliding with an obstacle.

Definition at line 269 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::occupied ( const PlanningState & s ) [protected]

Returns:: True iff the foot in 's' is colliding with an obstacle.

Definition at line 277 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::PrintEnv_Config ( FILE * fOut )

Definition at line 1159 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::PrintState	(	int	stateID,
		bool	bVerbose,
		FILE *	fOut
	)

Definition at line 1168 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::reachable	(	const PlanningState &	from,
		const PlanningState &	to
	)

Returns:: True iff 'to' can be reached by an arbitrary footstep that can be performed by the robot from within 'from'. (This method is used to check whether the goal/start can be reached from within the current state.)

Definition at line 441 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::reset ( )

Resets the current planning task (i.e. the start and goal poses).

Definition at line 377 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::SetAllActionsandAllOutcomes ( CMDPSTATE * state )

Definition at line 1197 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::SetAllPreds ( CMDPSTATE * state )

Definition at line 1211 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::setStateArea	(	const PlanningState &	left,
		const PlanningState &	right
	)		`[protected]`

Definition at line 1232 of file FootstepPlannerEnvironment.cpp.

int footstep_planner::FootstepPlannerEnvironment::SizeofCreatedEnv ( )

Definition at line 1225 of file FootstepPlannerEnvironment.cpp.

int footstep_planner::FootstepPlannerEnvironment::stepCost	(	const PlanningState &	a,
		const PlanningState &	b
	)		`[protected]`

Returns:: The step cost for reaching 'b' from within 'a'.

Definition at line 253 of file FootstepPlannerEnvironment.cpp.

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

Update the robot's feet poses in the goal state.

Returns:: The new IDs (left, right) of the planning state representing the feet.

Definition at line 103 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::updateHeuristicValues ( )

Update the heuristic values (e.g. after the map has changed). The environment takes care that the update is only done when it is necessary.

Definition at line 337 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::updateMap ( gridmap_2d::GridMap2DPtr map )

Definition at line 319 of file FootstepPlannerEnvironment.cpp.

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

Update the robot's feet poses in the start state.

Returns:: The new IDs (left, right) of the planning states representing the feet.

Definition at line 141 of file FootstepPlannerEnvironment.cpp.

Member Data Documentation

const int footstep_planner::FootstepPlannerEnvironment::cvMmScale = 1000 [static]

Used to scale continuous values in meter to discrete values in mm.

Definition at line 284 of file FootstepPlannerEnvironment.h.

const double footstep_planner::FootstepPlannerEnvironment::ivCellSize [protected]

The size of each grid cell used to discretize the robot positions.

Definition at line 430 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivCollisionCheckAccuracy [protected]

Whether to check just the foot's inner circle (0), the hole outer circle (1) or exactly the foot's bounding box (2) for collision.

Definition at line 421 of file FootstepPlannerEnvironment.h.

exp_states_2d_t footstep_planner::FootstepPlannerEnvironment::ivExpandedStates [protected]

Definition at line 456 of file FootstepPlannerEnvironment.h.

const double footstep_planner::FootstepPlannerEnvironment::ivFootsizeX [protected]

Size of the foot in x direction.

Definition at line 387 of file FootstepPlannerEnvironment.h.

const double footstep_planner::FootstepPlannerEnvironment::ivFootsizeY [protected]

Size of the foot in y direction.

Definition at line 389 of file FootstepPlannerEnvironment.h.

const std::vector<Footstep>& footstep_planner::FootstepPlannerEnvironment::ivFootstepSet [protected]

The set of footsteps used for the path planning.

Definition at line 381 of file FootstepPlannerEnvironment.h.

const bool footstep_planner::FootstepPlannerEnvironment::ivForwardSearch [protected]

Whether to use forward search (1) or backward search (0).

Definition at line 435 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivHashTableSize [protected]

Size of the hash table storing the planning states expanded during the search. (Also referred to by max_hash_size.)

Definition at line 427 of file FootstepPlannerEnvironment.h.

const boost::shared_ptr<Heuristic> footstep_planner::FootstepPlannerEnvironment::ivHeuristicConstPtr [protected]

The heuristic function used by the planner.

Definition at line 384 of file FootstepPlannerEnvironment.h.

bool footstep_planner::FootstepPlannerEnvironment::ivHeuristicExpired [protected]

Indicates if heuristic has to be updated.

Definition at line 451 of file FootstepPlannerEnvironment.h.

double footstep_planner::FootstepPlannerEnvironment::ivHeuristicScale [protected]

Scaling factor of heuristic, in case it underestimates by a constant factor.

Definition at line 448 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivIdGoalFootLeft [protected]

ID of the goal pose of the left foot.

Definition at line 361 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivIdGoalFootRight [protected]

ID of the goal pose of the right foot.

Definition at line 363 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivIdPlanningGoal [protected]

ID of the planning goal, i.e. dependent on the planning direction (forward/backward) this ID is used to map to the goal/start poses.

Definition at line 354 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivIdStartFootLeft [protected]

ID of the start pose of the left foot.

Definition at line 357 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivIdStartFootRight [protected]

ID of the start pose of the right foot.

Definition at line 359 of file FootstepPlannerEnvironment.h.

boost::shared_ptr<gridmap_2d::GridMap2D> footstep_planner::FootstepPlannerEnvironment::ivMapPtr [protected]

Pointer to the map.

Definition at line 454 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivMaxFootstepTheta [protected]

The maximal rotation (discretized into bins).

Definition at line 401 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivMaxFootstepX [protected]

The maximal translation in x direction (discretized in cell size).

Definition at line 397 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivMaxFootstepY [protected]

The maximal translation in y direction (discretized in cell size).

Definition at line 399 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivMaxInvFootstepTheta [protected]

The minimal rotation (discretized into bins).

Definition at line 408 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivMaxInvFootstepX [protected]

The minimal translation in x direction (discretized in cell size).

Definition at line 404 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivMaxInvFootstepY [protected]

The minimal translation in y direction (discretized in cell size).

Definition at line 406 of file FootstepPlannerEnvironment.h.

double footstep_planner::FootstepPlannerEnvironment::ivMaxStepWidth [protected]

Definition at line 437 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivNumAngleBins [protected]

The number of bins used to discretize the robot orientations.

Definition at line 432 of file FootstepPlannerEnvironment.h.

size_t footstep_planner::FootstepPlannerEnvironment::ivNumExpandedStates [protected]

Definition at line 458 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivNumRandomNodes [protected]

number of random neighbors for R*

Definition at line 440 of file FootstepPlannerEnvironment.h.

const double footstep_planner::FootstepPlannerEnvironment::ivOriginFootShiftX [protected]

Shift in x direction from the foot's center.

Definition at line 392 of file FootstepPlannerEnvironment.h.

const double footstep_planner::FootstepPlannerEnvironment::ivOriginFootShiftY [protected]

Shift in y direction from the foot's center.

Definition at line 394 of file FootstepPlannerEnvironment.h.

std::vector<const PlanningState*>* footstep_planner::FootstepPlannerEnvironment::ivpStateHash2State [protected]

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

Definition at line 378 of file FootstepPlannerEnvironment.h.

bool* footstep_planner::FootstepPlannerEnvironment::ivpStepRange [protected]

Definition at line 460 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivRandomNodeDist [protected]

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

Definition at line 442 of file FootstepPlannerEnvironment.h.

exp_states_t footstep_planner::FootstepPlannerEnvironment::ivRandomStates [protected]

random intermediate states for R*

Definition at line 457 of file FootstepPlannerEnvironment.h.

std::vector<int> footstep_planner::FootstepPlannerEnvironment::ivStateArea [protected]

Definition at line 365 of file FootstepPlannerEnvironment.h.

std::vector<const PlanningState*> footstep_planner::FootstepPlannerEnvironment::ivStateId2State [protected]

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

Definition at line 371 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivStepCost [protected]

The costs for each step (discretized with the help of cvMmScale).

Definition at line 414 of file FootstepPlannerEnvironment.h.

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