#include <planning_graph.h>

Public Member Functions
bool	addTrajectory (descartes_core::TrajectoryPtPtr point, descartes_core::TrajectoryPt::ID previous_id, descartes_core::TrajectoryPt::ID next_id)
	adds a single trajectory point to the graph
void	clear ()
	Clear all previous graph data.
bool	findEndVertices (std::vector< JointGraph::vertex_descriptor > &end_points) const
	simple function to iterate over all graph vertices to find ones that do not have an outgoing edge
bool	findStartVertices (std::vector< JointGraph::vertex_descriptor > &start_points) const
	simple function to iterate over all graph vertices to find ones that do not have an incoming edge
CartesianMap	getCartesianMap () const
bool	getCartesianTrajectory (std::vector< descartes_core::TrajectoryPtPtr > &traj)
const JointGraph &	getGraph () const
const JointMap &	getJointMap () const
descartes_core::RobotModelConstPtr	getRobotModel ()
bool	getShortestPath (double &cost, std::list< descartes_trajectory::JointTrajectoryPt > &path)
	Calculate and return the shortest path from the given joint solution indices.
bool	insertGraph (const std::vector< descartes_core::TrajectoryPtPtr > *points)
	initial population of graph trajectory elements
bool	modifyTrajectory (descartes_core::TrajectoryPtPtr point)
	PlanningGraph (descartes_core::RobotModelConstPtr model)
	PlanningGraph (descartes_core::RobotModelConstPtr model, CostFunction cost_function_callback)
void	printGraph ()
	Utility function for printing the graph to the console NOTE: should add other formats for output.
void	printMaps ()
bool	removeTrajectory (descartes_core::TrajectoryPtPtr point)
virtual	~PlanningGraph ()
Protected Types
typedef std::pair< bool, double >	EdgeWeightResult
	A pair indicating the validity of the edge, and if valid, the cost associated with that edge.
Protected Member Functions
bool	calculateAllEdgeWeights (const std::vector< std::vector< descartes_trajectory::JointTrajectoryPt >> &poses, std::vector< JointEdge > &edges)
	(Re)populate the edge list for the graph from the list of joint solutions
bool	calculateEdgeWeights (const std::vector< descartes_core::TrajectoryPt::ID > &start_joints, const std::vector< descartes_core::TrajectoryPt::ID > &end_joints, std::vector< JointEdge > &edge_results)
	calculate weights fro each start point to each end point
bool	calculateEdgeWeights (const std::vector< descartes_trajectory::JointTrajectoryPt > &start_joints, const std::vector< descartes_trajectory::JointTrajectoryPt > &end_joints, std::vector< JointEdge > &edge_results) const
bool	calculateJointSolutions (const std::vector< descartes_core::TrajectoryPtPtr > &points, std::vector< std::vector< descartes_trajectory::JointTrajectoryPt >> &poses)
	(Re)create the list of joint solutions from the given descartes_core::TrajectoryPt list
EdgeWeightResult	edgeWeight (const descartes_trajectory::JointTrajectoryPt &start, const descartes_trajectory::JointTrajectoryPt &end) const
	function for computing edge weight based on specified cost function
bool	populateGraphEdges (const std::vector< JointEdge > &edges)
	(Re)create the actual graph structure from the list of transition costs (edges)
bool	populateGraphVertices (const std::vector< descartes_core::TrajectoryPtPtr > &points, std::vector< std::vector< descartes_trajectory::JointTrajectoryPt >> &poses)
	(Re)create the actual graph nodes(vertices) from the list of joint solutions (vertices)
int	recalculateJointSolutionsVertexMap (std::map< descartes_core::TrajectoryPt::ID, JointGraph::vertex_descriptor > &joint_vertex_map) const
Protected Attributes
CartesianMap *	cartesian_point_link_
CostFunction	custom_cost_function_
JointGraph	dg_
JointMap	joint_solutions_map_
descartes_core::RobotModelConstPtr	robot_model_

Detailed Description

Definition at line 82 of file planning_graph.h.

Member Typedef Documentation

typedef std::pair<bool, double> descartes_planner::PlanningGraph::EdgeWeightResult [protected]

A pair indicating the validity of the edge, and if valid, the cost associated with that edge.

Definition at line 162 of file planning_graph.h.

Constructor & Destructor Documentation

descartes_planner::PlanningGraph::PlanningGraph ( descartes_core::RobotModelConstPtr model )

descartes_planner::PlanningGraph::PlanningGraph	(	descartes_core::RobotModelConstPtr	model,
		CostFunction	cost_function_callback
	)

descartes_planner::PlanningGraph::~PlanningGraph ( ) [virtual]

Definition at line 52 of file planning_graph.cpp.

Member Function Documentation

bool descartes_planner::PlanningGraph::addTrajectory	(	descartes_core::TrajectoryPtPtr	point,
		descartes_core::TrajectoryPt::ID	previous_id,
		descartes_core::TrajectoryPt::ID	next_id
	)

adds a single trajectory point to the graph

Parameters:

point The new point to add to the graph

Returns:: True if the point was successfully added

Definition at line 173 of file planning_graph.cpp.

bool descartes_planner::PlanningGraph::calculateAllEdgeWeights	(	const std::vector< std::vector< descartes_trajectory::JointTrajectoryPt >> &	poses,
		std::vector< JointEdge > &	edges
	)		`[protected]`

(Re)populate the edge list for the graph from the list of joint solutions

Definition at line 838 of file planning_graph.cpp.

bool descartes_planner::PlanningGraph::calculateEdgeWeights	(	const std::vector< descartes_core::TrajectoryPt::ID > &	start_joints,
		const std::vector< descartes_core::TrajectoryPt::ID > &	end_joints,
		std::vector< JointEdge > &	edge_results
	)		`[protected]`

calculate weights fro each start point to each end point

bool descartes_planner::PlanningGraph::calculateEdgeWeights	(	const std::vector< descartes_trajectory::JointTrajectoryPt > &	start_joints,
		const std::vector< descartes_trajectory::JointTrajectoryPt > &	end_joints,
		std::vector< JointEdge > &	edge_results
	)		const `[protected]`

Definition at line 907 of file planning_graph.cpp.

bool descartes_planner::PlanningGraph::calculateJointSolutions	(	const std::vector< descartes_core::TrajectoryPtPtr > &	points,
		std::vector< std::vector< descartes_trajectory::JointTrajectoryPt >> &	poses
	)		`[protected]`

(Re)create the list of joint solutions from the given descartes_core::TrajectoryPt list

Definition at line 812 of file planning_graph.cpp.

void descartes_planner::PlanningGraph::clear ( void )

Clear all previous graph data.

Definition at line 57 of file planning_graph.cpp.

PlanningGraph::EdgeWeightResult descartes_planner::PlanningGraph::edgeWeight	(	const descartes_trajectory::JointTrajectoryPt &	start,
		const descartes_trajectory::JointTrajectoryPt &	end
	)		const `[protected]`

function for computing edge weight based on specified cost function

Definition at line 1017 of file planning_graph.cpp.

bool descartes_planner::PlanningGraph::findEndVertices ( std::vector< JointGraph::vertex_descriptor > & end_points ) const

simple function to iterate over all graph vertices to find ones that do not have an outgoing edge

Definition at line 606 of file planning_graph.cpp.

bool descartes_planner::PlanningGraph::findStartVertices ( std::vector< JointGraph::vertex_descriptor > & start_points ) const

simple function to iterate over all graph vertices to find ones that do not have an incoming edge

Definition at line 567 of file planning_graph.cpp.

CartesianMap descartes_planner::PlanningGraph::getCartesianMap ( ) const

Definition at line 64 of file planning_graph.cpp.

bool descartes_planner::PlanningGraph::getCartesianTrajectory ( std::vector< descartes_core::TrajectoryPtPtr > & traj )

const JointGraph & descartes_planner::PlanningGraph::getGraph ( ) const

Definition at line 79 of file planning_graph.cpp.

const JointMap & descartes_planner::PlanningGraph::getJointMap ( ) const

Definition at line 74 of file planning_graph.cpp.

descartes_core::RobotModelConstPtr descartes_planner::PlanningGraph::getRobotModel ( )

Definition at line 84 of file planning_graph.cpp.

bool descartes_planner::PlanningGraph::getShortestPath	(	double &	cost,
		std::list< descartes_trajectory::JointTrajectoryPt > &	path
	)

Calculate and return the shortest path from the given joint solution indices.

Parameters:

startIndex	The index of the joint solution at which to start
endIndex	The index of the joint solution at which to end
cost	The cost of the returned path
path	The sequence of points (joint solutions) for the path (TODO: change to JointTrajectoryPt?)

Returns:: True if a valid path is found

Definition at line 645 of file planning_graph.cpp.

bool descartes_planner::PlanningGraph::insertGraph ( const std::vector< descartes_core::TrajectoryPtPtr > * points )

initial population of graph trajectory elements

Parameters:

points list of trajectory points to be used to construct the graph

Returns:: True if the graph was successfully created

Definition at line 89 of file planning_graph.cpp.

bool descartes_planner::PlanningGraph::modifyTrajectory ( descartes_core::TrajectoryPtPtr point )

Definition at line 301 of file planning_graph.cpp.

bool descartes_planner::PlanningGraph::populateGraphEdges ( const std::vector< JointEdge > & edges ) [protected]

(Re)create the actual graph structure from the list of transition costs (edges)

Definition at line 989 of file planning_graph.cpp.

bool descartes_planner::PlanningGraph::populateGraphVertices	(	const std::vector< descartes_core::TrajectoryPtPtr > &	points,
		std::vector< std::vector< descartes_trajectory::JointTrajectoryPt >> &	poses
	)		`[protected]`

(Re)create the actual graph nodes(vertices) from the list of joint solutions (vertices)

Definition at line 944 of file planning_graph.cpp.

void descartes_planner::PlanningGraph::printGraph ( )

Utility function for printing the graph to the console NOTE: should add other formats for output.

Definition at line 753 of file planning_graph.cpp.

void descartes_planner::PlanningGraph::printMaps ( )

Definition at line 729 of file planning_graph.cpp.

int descartes_planner::PlanningGraph::recalculateJointSolutionsVertexMap ( std::map< descartes_core::TrajectoryPt::ID, JointGraph::vertex_descriptor > & joint_vertex_map ) const [protected]