#include <state_space.h>

Public Types
typedef boost::shared_ptr < StateSpace >	ConstPtr
typedef boost::shared_ptr < StateSpace >	Ptr
Public Member Functions
bool	closeToGoal (const PlanningState &from) const
bool	closeToStart (const PlanningState &from) const
PlanningState *	createHashEntryIfNotExists (const PlanningState &s)
PlanningState *	createNewHashEntry (const State &s)
	Wrapper for footstep_planner_environment::createNewHashEntry(PlanningState).
PlanningState *	createNewHashEntry (const PlanningState &s)
	Creates a new planning state for 's' and inserts it into the maps (PlanningState::ivStateId2State, PlanningState::ivpStateHash2State)
bool	getGoalState (State &left, State &right) const
bool	getGoalState (State &robot) const
PlanningState *	getHashEntry (const State &s)
	Wrapper for footstep_planner_environment::getHashEntry(PlanningState).
PlanningState *	getHashEntry (const PlanningState &s)
exp_states_iter_t	getRandomStatesEnd ()
exp_states_iter_t	getRandomStatesStart ()
bool	getStartState (State &left, State &right) const
bool	getStartState (State &robot) const
bool	getState (unsigned int id, State &s) const
	Try to receive a state with a certain ID.
bool	getStepCost (const State &stand_foot, const State &swing_foot_before, const State &swing_foot_after, double &cost, double &risk) const
bool	getStepCost (const State &stand_foot, const State &swing_foot_before, const State &swing_foot_after, int &cost, int &risk) const
bool	getStepCost (const State &stand_foot, const State &swing_foot_before, const State &swing_foot_after, int &cost) const
void	reset ()
void	setFrameId (const std::string &frame_id)
void	setPlannerStartAndGoal (unsigned int start_foot_selection)
	StateSpace (const EnvironmentParameters &params, std::vector< int * > &state_ID2_index_mapping)
std::pair< int, int >	updateGoal (const State &foot_left, const State &foot_right)
std::pair< int, int >	updateStart (const State &foot_left, const State &right_right)
virtual	~StateSpace ()
Public Attributes
std::string	frame_id
PlanningState *	goal_foot_left
PlanningState *	goal_foot_right
boost::shared_mutex	hash_table_shared_mutex
bool	ivHeuristicExpired
	The heuristic function used by the planner.
int	ivIdGoalFootLeft
int	ivIdGoalFootRight
int	ivIdPlanningGoal
int	ivIdPlanningStart
	ID of Start and Goal foot chosen by planner.
int	ivIdStartFootLeft
int	ivIdStartFootRight
std::vector< PlanningState * > *	ivpStateHash2State
	Maps from a hash tag to a list of corresponding planning states. (Used in footstep_planner_environment to identify a certain PlanningState.)
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 EnvironmentParameters &	params
PlanningState *	start_foot_left
PlanningState *	start_foot_right
std::vector< int * > &	state_ID2_index_mapping

Detailed Description

Definition at line 82 of file state_space.h.

Member Typedef Documentation

typedef boost::shared_ptr<StateSpace> vigir_footstep_planning::StateSpace::ConstPtr

Definition at line 93 of file state_space.h.

typedef boost::shared_ptr<StateSpace> vigir_footstep_planning::StateSpace::Ptr

Definition at line 92 of file state_space.h.

Constructor & Destructor Documentation

vigir_footstep_planning::StateSpace::StateSpace	(	const EnvironmentParameters &	params,
		std::vector< int * > &	state_ID2_index_mapping
	)

Definition at line 14 of file state_space.cpp.

vigir_footstep_planning::StateSpace::~StateSpace ( ) [virtual]

Definition at line 30 of file state_space.cpp.

Member Function Documentation

bool vigir_footstep_planning::StateSpace::closeToGoal ( const PlanningState & from ) const

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

Definition at line 345 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::closeToStart ( const PlanningState & from ) const

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

Definition at line 309 of file state_space.cpp.

PlanningState * vigir_footstep_planning::StateSpace::createHashEntryIfNotExists ( const PlanningState & s )

Definition at line 300 of file state_space.cpp.

PlanningState * vigir_footstep_planning::StateSpace::createNewHashEntry ( const State & s )

Wrapper for footstep_planner_environment::createNewHashEntry(PlanningState).

Definition at line 246 of file state_space.cpp.

PlanningState * vigir_footstep_planning::StateSpace::createNewHashEntry ( const PlanningState & s )

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 252 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getGoalState	(	State &	left,
		State &	right
	)		const

Definition at line 220 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getGoalState ( State & robot ) const

Definition at line 229 of file state_space.cpp.

PlanningState * vigir_footstep_planning::StateSpace::getHashEntry ( const State & s )

Wrapper for footstep_planner_environment::getHashEntry(PlanningState).

Definition at line 280 of file state_space.cpp.

PlanningState * vigir_footstep_planning::StateSpace::getHashEntry ( const PlanningState & s )

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

Definition at line 286 of file state_space.cpp.

exp_states_iter_t vigir_footstep_planning::StateSpace::getRandomStatesEnd ( ) [inline]

Definition at line 118 of file state_space.h.

exp_states_iter_t vigir_footstep_planning::StateSpace::getRandomStatesStart ( ) [inline]

Definition at line 113 of file state_space.h.

bool vigir_footstep_planning::StateSpace::getStartState	(	State &	left,
		State &	right
	)		const

Definition at line 194 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getStartState ( State & robot ) const

Definition at line 203 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getState	(	unsigned int	id,
		State &	s
	)		const

Try to receive a state with a certain ID.

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

Definition at line 185 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getStepCost	(	const State &	stand_foot,
		const State &	swing_foot_before,
		const State &	swing_foot_after,
		double &	cost,
		double &	risk
	)		const

Returns:: computes step cost based on the swing_foot from 'before' to 'after' while standing on stand_foot

Definition at line 381 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getStepCost	(	const State &	stand_foot,
		const State &	swing_foot_before,
		const State &	swing_foot_after,
		int &	cost,
		int &	risk
	)		const

Definition at line 410 of file state_space.cpp.

bool vigir_footstep_planning::StateSpace::getStepCost	(	const State &	stand_foot,
		const State &	swing_foot_before,
		const State &	swing_foot_after,
		int &	cost
	)		const