#include <footstep_graph.h>

Inheritance diagram for jsk_footstep_planner::FootstepGraph:

Public Types
typedef boost::shared_ptr < FootstepGraph >	Ptr
Public Member Functions
	FootstepGraph (const Eigen::Vector3f &resolution, const bool use_pointcloud_model=false, const bool lazy_projection=true, const bool local_movement=false)
virtual FootstepState::Ptr	getGoal (int leg)
virtual TransitionLimit::Ptr	getTransitionLimit ()
virtual std::string	infoString () const
	return string about graph information.
virtual bool	isGoal (StatePtr state)
virtual bool	lazyProjection () const
virtual std::vector < FootstepState::Ptr >	localMoveFootstepState (FootstepState::Ptr in)
virtual bool	localMovement () const
virtual double	maxSuccessorDistance ()
virtual double	maxSuccessorRotation ()
virtual FootstepState::Ptr	projectFootstep (FootstepState::Ptr in)
virtual FootstepState::Ptr	projectFootstep (FootstepState::Ptr in, unsigned int &state)
virtual bool	projectGoal ()
virtual bool	projectStart ()
virtual void	setBasicSuccessors (std::vector< Eigen::Affine3f > left_to_right_successors)
virtual void	setGoalState (FootstepState::Ptr left, FootstepState::Ptr right)
virtual void	setLeftGoalState (FootstepState::Ptr goal)
virtual void	setLocalThetaMovement (double x)
virtual void	setLocalThetaMovementNum (size_t n)
virtual void	setLocalXMovement (double x)
virtual void	setLocalXMovementNum (size_t n)
virtual void	setLocalYMovement (double x)
virtual void	setLocalYMovementNum (size_t n)
virtual void	setPlaneEstimationMaxIterations (int n)
virtual void	setPlaneEstimationMinInliers (int n)
virtual void	setPlaneEstimationOutlierThreshold (double d)
virtual void	setPointCloudModel (pcl::PointCloud< pcl::PointNormal >::Ptr model)
virtual void	setPositionGoalThreshold (double x)
virtual void	setProgressPublisher (ros::NodeHandle &nh, std::string topic)
virtual void	setRightGoalState (FootstepState::Ptr goal)
virtual void	setRotationGoalThreshold (double x)
virtual void	setSupportCheckVertexNeighborThreshold (double d)
virtual void	setSupportCheckXSampling (int n)
virtual void	setSupportCheckYSampling (int n)
virtual void	setTransitionLimit (TransitionLimit::Ptr limit)
virtual std::vector< StatePtr >	successors (StatePtr target_state)
virtual bool	usePointCloudModel () const
Protected Attributes
ANNGrid::Ptr	grid_search_
const bool	lazy_projection_
FootstepState::Ptr	left_goal_state_
double	local_move_theta_
size_t	local_move_theta_num_
double	local_move_x_
size_t	local_move_x_num_
double	local_move_y_
size_t	local_move_y_num_
const bool	local_movement_
double	max_successor_distance_
double	max_successor_rotation_
int	plane_estimation_max_iterations_
int	plane_estimation_min_inliers_
double	plane_estimation_outlier_threshold_
pcl::PointCloud < pcl::PointNormal >::Ptr	pointcloud_model_
pcl::PointCloud < pcl::PointNormal >::Ptr	pointcloud_model_2d_
double	pos_goal_thr_
ros::Publisher	pub_progress_
bool	publish_progress_
const Eigen::Vector3f	resolution_
FootstepState::Ptr	right_goal_state_
double	rot_goal_thr_
std::vector< Eigen::Affine3f >	successors_from_left_to_right_
std::vector< Eigen::Affine3f >	successors_from_right_to_left_
double	support_check_vertex_neighbor_threshold_
int	support_check_x_sampling_
int	support_check_y_sampling_
TransitionLimit::Ptr	transition_limit_
pcl::KdTreeFLANN < pcl::PointNormal >::Ptr	tree_model_
pcl::search::Octree < pcl::PointNormal >::Ptr	tree_model_2d_
const bool	use_pointcloud_model_

Detailed Description

Definition at line 50 of file footstep_graph.h.

Member Typedef Documentation

typedef boost::shared_ptr<FootstepGraph> jsk_footstep_planner::FootstepGraph::Ptr

Reimplemented from jsk_footstep_planner::Graph< FootstepState >.

Definition at line 53 of file footstep_graph.h.

Constructor & Destructor Documentation

jsk_footstep_planner::FootstepGraph::FootstepGraph	(	const Eigen::Vector3f &	resolution,
		const bool	use_pointcloud_model = `false`,
		const bool	lazy_projection = `true`,
		const bool	local_movement = `false`
	)		`[inline]`

Definition at line 54 of file footstep_graph.h.

Member Function Documentation

virtual FootstepState::Ptr jsk_footstep_planner::FootstepGraph::getGoal ( int leg ) [inline, virtual]

Definition at line 105 of file footstep_graph.h.

virtual TransitionLimit::Ptr jsk_footstep_planner::FootstepGraph::getTransitionLimit ( ) [inline, virtual]

Definition at line 171 of file footstep_graph.h.

std::string jsk_footstep_planner::FootstepGraph::infoString ( ) const [virtual]

return string about graph information.

Definition at line 87 of file footstep_graph.cpp.

bool jsk_footstep_planner::FootstepGraph::isGoal ( StatePtr state ) [virtual]

Implements jsk_footstep_planner::Graph< FootstepState >.

Definition at line 70 of file footstep_graph.cpp.

virtual bool jsk_footstep_planner::FootstepGraph::lazyProjection ( ) const [inline, virtual]

Definition at line 154 of file footstep_graph.h.

std::vector< FootstepState::Ptr > jsk_footstep_planner::FootstepGraph::localMoveFootstepState ( FootstepState::Ptr in ) [virtual]

Definition at line 119 of file footstep_graph.cpp.

virtual bool jsk_footstep_planner::FootstepGraph::localMovement ( ) const [inline, virtual]

Definition at line 155 of file footstep_graph.h.

virtual double jsk_footstep_planner::FootstepGraph::maxSuccessorDistance ( ) [inline, virtual]

Definition at line 118 of file footstep_graph.h.

virtual double jsk_footstep_planner::FootstepGraph::maxSuccessorRotation ( ) [inline, virtual]

Definition at line 122 of file footstep_graph.h.

FootstepState::Ptr jsk_footstep_planner::FootstepGraph::projectFootstep ( FootstepState::Ptr in ) [virtual]

Definition at line 201 of file footstep_graph.cpp.

FootstepState::Ptr jsk_footstep_planner::FootstepGraph::projectFootstep	(	FootstepState::Ptr	in,
		unsigned int &	state
	)		`[virtual]`

Definition at line 207 of file footstep_graph.cpp.

bool jsk_footstep_planner::FootstepGraph::projectGoal ( ) [virtual]

Definition at line 228 of file footstep_graph.cpp.

bool jsk_footstep_planner::FootstepGraph::projectStart ( ) [virtual]

Definition at line 243 of file footstep_graph.cpp.

void jsk_footstep_planner::FootstepGraph::setBasicSuccessors ( std::vector< Eigen::Affine3f > left_to_right_successors ) [virtual]

Definition at line 41 of file footstep_graph.cpp.

virtual void jsk_footstep_planner::FootstepGraph::setGoalState	(	FootstepState::Ptr	left,
		FootstepState::Ptr	right
	)		`[inline, virtual]`

Definition at line 82 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setLeftGoalState ( FootstepState::Ptr goal ) [inline, virtual]

Definition at line 89 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setLocalThetaMovement ( double x ) [inline, virtual]

Definition at line 160 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setLocalThetaMovementNum ( size_t n ) [inline, virtual]

Definition at line 163 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setLocalXMovement ( double x ) [inline, virtual]

Definition at line 158 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setLocalXMovementNum ( size_t n ) [inline, virtual]

Definition at line 161 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setLocalYMovement ( double x ) [inline, virtual]

Definition at line 159 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setLocalYMovementNum ( size_t n ) [inline, virtual]

Definition at line 162 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setPlaneEstimationMaxIterations ( int n ) [inline, virtual]

Definition at line 164 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setPlaneEstimationMinInliers ( int n ) [inline, virtual]

Definition at line 165 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setPlaneEstimationOutlierThreshold ( double d ) [inline, virtual]

Definition at line 166 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setPointCloudModel ( pcl::PointCloud< pcl::PointNormal >::Ptr model ) [inline, virtual]

Definition at line 133 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setPositionGoalThreshold ( double x ) [inline, virtual]

Definition at line 156 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setProgressPublisher	(	ros::NodeHandle &	nh,
		std::string	topic
	)		`[inline, virtual]`

Definition at line 127 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setRightGoalState ( FootstepState::Ptr goal ) [inline, virtual]

Definition at line 94 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setRotationGoalThreshold ( double x ) [inline, virtual]

Definition at line 157 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setSupportCheckVertexNeighborThreshold ( double d ) [inline, virtual]

Definition at line 169 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setSupportCheckXSampling ( int n ) [inline, virtual]

Definition at line 167 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setSupportCheckYSampling ( int n ) [inline, virtual]

Definition at line 168 of file footstep_graph.h.

virtual void jsk_footstep_planner::FootstepGraph::setTransitionLimit ( TransitionLimit::Ptr limit ) [inline, virtual]

Definition at line 170 of file footstep_graph.h.

std::vector< FootstepGraph::StatePtr > jsk_footstep_planner::FootstepGraph::successors ( StatePtr target_state ) [virtual]

Implements jsk_footstep_planner::Graph< FootstepState >.

Definition at line 143 of file footstep_graph.cpp.

virtual bool jsk_footstep_planner::FootstepGraph::usePointCloudModel ( ) const [inline, virtual]

Definition at line 153 of file footstep_graph.h.

Member Data Documentation

ANNGrid::Ptr jsk_footstep_planner::FootstepGraph::grid_search_ [protected]

Definition at line 182 of file footstep_graph.h.

const bool jsk_footstep_planner::FootstepGraph::lazy_projection_ [protected]

Definition at line 193 of file footstep_graph.h.

FootstepState::Ptr jsk_footstep_planner::FootstepGraph::left_goal_state_ [protected]

Definition at line 185 of file footstep_graph.h.

double jsk_footstep_planner::FootstepGraph::local_move_theta_ [protected]

Definition at line 198 of file footstep_graph.h.

size_t jsk_footstep_planner::FootstepGraph::local_move_theta_num_ [protected]

Definition at line 201 of file footstep_graph.h.

double jsk_footstep_planner::FootstepGraph::local_move_x_ [protected]

Definition at line 196 of file footstep_graph.h.

size_t jsk_footstep_planner::FootstepGraph::local_move_x_num_ [protected]

Definition at line 199 of file footstep_graph.h.

double jsk_footstep_planner::FootstepGraph::local_move_y_ [protected]

Definition at line 197 of file footstep_graph.h.

size_t jsk_footstep_planner::FootstepGraph::local_move_y_num_ [protected]

Definition at line 200 of file footstep_graph.h.

const bool jsk_footstep_planner::FootstepGraph::local_movement_ [protected]

Definition at line 194 of file footstep_graph.h.

double jsk_footstep_planner::FootstepGraph::max_successor_distance_ [protected]

Definition at line 187 of file footstep_graph.h.

double jsk_footstep_planner::FootstepGraph::max_successor_rotation_ [protected]

Definition at line 188 of file footstep_graph.h.

int jsk_footstep_planner::FootstepGraph::plane_estimation_max_iterations_ [protected]

Definition at line 206 of file footstep_graph.h.

int jsk_footstep_planner::FootstepGraph::plane_estimation_min_inliers_ [protected]

Definition at line 207 of file footstep_graph.h.

double jsk_footstep_planner::FootstepGraph::plane_estimation_outlier_threshold_ [protected]

Definition at line 208 of file footstep_graph.h.

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_footstep_planner::FootstepGraph::pointcloud_model_ [protected]

Definition at line 177 of file footstep_graph.h.

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_footstep_planner::FootstepGraph::pointcloud_model_2d_ [protected]

Definition at line 178 of file footstep_graph.h.

double jsk_footstep_planner::FootstepGraph::pos_goal_thr_ [protected]

Reimplemented from jsk_footstep_planner::Graph< FootstepState >.

Definition at line 189 of file footstep_graph.h.

ros::Publisher jsk_footstep_planner::FootstepGraph::pub_progress_ [protected]

Definition at line 203 of file footstep_graph.h.

bool jsk_footstep_planner::FootstepGraph::publish_progress_ [protected]

Definition at line 191 of file footstep_graph.h.

const Eigen::Vector3f jsk_footstep_planner::FootstepGraph::resolution_ [protected]

Definition at line 204 of file footstep_graph.h.

FootstepState::Ptr jsk_footstep_planner::FootstepGraph::right_goal_state_ [protected]

Definition at line 186 of file footstep_graph.h.

double jsk_footstep_planner::FootstepGraph::rot_goal_thr_ [protected]

Reimplemented from jsk_footstep_planner::Graph< FootstepState >.

Definition at line 190 of file footstep_graph.h.

std::vector<Eigen::Affine3f> jsk_footstep_planner::FootstepGraph::successors_from_left_to_right_ [protected]

Definition at line 183 of file footstep_graph.h.

std::vector<Eigen::Affine3f> jsk_footstep_planner::FootstepGraph::successors_from_right_to_left_ [protected]

Definition at line 184 of file footstep_graph.h.

double jsk_footstep_planner::FootstepGraph::support_check_vertex_neighbor_threshold_ [protected]

Definition at line 211 of file footstep_graph.h.

int jsk_footstep_planner::FootstepGraph::support_check_x_sampling_ [protected]

Definition at line 209 of file footstep_graph.h.

int jsk_footstep_planner::FootstepGraph::support_check_y_sampling_ [protected]

Definition at line 210 of file footstep_graph.h.

TransitionLimit::Ptr jsk_footstep_planner::FootstepGraph::transition_limit_ [protected]

Definition at line 195 of file footstep_graph.h.

pcl::KdTreeFLANN<pcl::PointNormal>::Ptr jsk_footstep_planner::FootstepGraph::tree_model_ [protected]

Definition at line 179 of file footstep_graph.h.

pcl::search::Octree<pcl::PointNormal>::Ptr jsk_footstep_planner::FootstepGraph::tree_model_2d_ [protected]

Definition at line 181 of file footstep_graph.h.

const bool jsk_footstep_planner::FootstepGraph::use_pointcloud_model_ [protected]

Definition at line 192 of file footstep_graph.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation