ompl_rviz_viewer::OmplRvizPlanner Class Reference

SimpleSetup Planning Class. More...

List of all members.

Public Member Functions
	OmplRvizPlanner ()
	Constructor.
void	runImage (std::string image_path)
	Main Function.
	~OmplRvizPlanner ()
	Deconstructor.
Private Member Functions
void	createCostMap ()
	Helper Function: calculate cost map.
void	getMinMaxCost ()
	Helper Function: gets the min and max values of the cost map.
bool	planWithSimpleSetup ()
	Plan.
void	showStartGoal (ob::ScopedState<> start, ob::ScopedState<> goal)
	Display the start and goal states on the image map.
Private Attributes
bnu::matrix< int >	cost_
PPMImage *	image_
int	max_cost_
double	max_threshold_
int	min_cost_
ob::PlannerDataPtr	planner_data_
og::SimpleSetupPtr	simple_setup_
ompl_rviz_viewer::OmplRvizViewerPtr	viewer_
Static Private Attributes
static const unsigned int	DIMENSIONS = 2
static const double	MAX_THRESHOLD_PERCENTAGE_ = 1
static const bool	USE_RANDOM_STATES = true

---

Detailed Description

SimpleSetup Planning Class.

Definition at line 68 of file ompl_rviz_planner.cpp.

---

Constructor & Destructor Documentation

ompl_rviz_viewer::OmplRvizPlanner::OmplRvizPlanner

(

)

[inline]

Constructor.

Definition at line 109 of file ompl_rviz_planner.cpp.

ompl_rviz_viewer::OmplRvizPlanner::~OmplRvizPlanner

(

)

[inline]

Deconstructor.

Definition at line 120 of file ompl_rviz_planner.cpp.

---

Member Function Documentation

void ompl_rviz_viewer::OmplRvizPlanner::createCostMap

(

)

[inline, private]

Helper Function: calculate cost map.

Definition at line 231 of file ompl_rviz_planner.cpp.

void ompl_rviz_viewer::OmplRvizPlanner::getMinMaxCost

(

)

[inline, private]

Helper Function: gets the min and max values of the cost map.

Definition at line 267 of file ompl_rviz_planner.cpp.

bool ompl_rviz_viewer::OmplRvizPlanner::planWithSimpleSetup

(

)

[inline, private]

Plan.

Definition at line 304 of file ompl_rviz_planner.cpp.

void ompl_rviz_viewer::OmplRvizPlanner::runImage

(

std::string

image_path

)

[inline]

Main Function.

Definition at line 128 of file ompl_rviz_planner.cpp.

void ompl_rviz_viewer::OmplRvizPlanner::showStartGoal	(	ob::ScopedState<>	start,
		ob::ScopedState<>	goal
	)		[inline, private]

Display the start and goal states on the image map.

Parameters:

start	state
goal	state

Definition at line 289 of file ompl_rviz_planner.cpp.

---

Member Data Documentation

bnu::matrix<int> ompl_rviz_viewer::OmplRvizPlanner::cost_ [private]

Definition at line 76 of file ompl_rviz_planner.cpp.

const unsigned int ompl_rviz_viewer::OmplRvizPlanner::DIMENSIONS = 2 [static, private]

Definition at line 99 of file ompl_rviz_planner.cpp.

PPMImage* ompl_rviz_viewer::OmplRvizPlanner::image_ [private]

Definition at line 73 of file ompl_rviz_planner.cpp.

int ompl_rviz_viewer::OmplRvizPlanner::max_cost_ [private]

Definition at line 88 of file ompl_rviz_planner.cpp.

double ompl_rviz_viewer::OmplRvizPlanner::max_threshold_ [private]

Definition at line 92 of file ompl_rviz_planner.cpp.

const double ompl_rviz_viewer::OmplRvizPlanner::MAX_THRESHOLD_PERCENTAGE_ = 1 [static, private]

Definition at line 96 of file ompl_rviz_planner.cpp.

int ompl_rviz_viewer::OmplRvizPlanner::min_cost_ [private]

Definition at line 89 of file ompl_rviz_planner.cpp.

ob::PlannerDataPtr ompl_rviz_viewer::OmplRvizPlanner::planner_data_ [private]

Definition at line 79 of file ompl_rviz_planner.cpp.

og::SimpleSetupPtr ompl_rviz_viewer::OmplRvizPlanner::simple_setup_ [private]

Definition at line 82 of file ompl_rviz_planner.cpp.

const bool ompl_rviz_viewer::OmplRvizPlanner::USE_RANDOM_STATES = true [static, private]

Definition at line 102 of file ompl_rviz_planner.cpp.

ompl_rviz_viewer::OmplRvizViewerPtr ompl_rviz_viewer::OmplRvizPlanner::viewer_ [private]

Definition at line 85 of file ompl_rviz_planner.cpp.

---

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

• ompl_rviz_planner.cpp