Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
dpScheduleNode Class Reference
Inheritance diagram for dpScheduleNode:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 dpScheduleNode (dpScheduleNode *potential_parent, Joint *_last_joint, const fVec &_proc_costs, dpScheduleNode *_schedule_parent, int child_id, int _first_proc, int _last_proc, const joint_list &org_internal_joints, const p_joint_list &org_outer_joints)
int FirstProc ()
JointLastJoint ()
int LastProc ()
int ListAllInternalJoints (joint_list &all_internal)
fVecProcCosts ()
int ScheduleDepth ()
 ~dpScheduleNode ()

Protected Member Functions

double calc_astar_cost (dpNode *potential_parent)
 Compute the A-star cost at the node (optional).
double calc_cost ()
 Compute the local cost at the node.
int create_child_nodes (dpNode **&nodes)
 Create (potential) child nodes.
dpScheduleNodefind_available_parent (int target_depth, int &child_id)
dpScheduleNodefind_available_parent_sub (dpScheduleNode *cur, int target_depth, dpNode *cur_leaf, int &child_id)
int is_goal ()
 Check if the state is goal.
int list_all_internal_joints_rev (Joint *cur, joint_list &all_internal)
int list_all_internal_joints_sub (Joint *cur, joint_list &all_internal)
int same_state (dpNode *refnode)
 Check if the node's state is the same as refnode. (to remove duplicates)
int set_outer_joints (pJoint *last_pjoint, const p_joint_list &org_outer_joints, p_joint_list &new_outer_joints)
int split_internal_joints (Joint *_last_joint, const joint_list &org_internal_joints, joint_list &_internal_joints_0, joint_list &_internal_joints_1)

Private Member Functions

double add_to_child_side (Joint *cur, joint_list &added_joints, int *n_outer_parent_side, int *n_outer_child_side)
double add_to_parent_side (Joint *cur, joint_list &added_joints, int *n_outer_parent_side, int *n_outer_child_side)
double calc_min_subchain_cost (const p_joint_list &_outer_joints, joint_list &added_joints)
double calc_min_subchain_cost_sub (Joint *cur, const p_joint_list &_outer_joints, int *n_outer_parent_side, int *n_outer_child_side, joint_list &added_joints)
double calc_single_joint_cost (int n_dof, int n_outer)

Private Attributes

int first_proc
joint_list internal_joints [2]
Jointlast_joint
pJointlast_pjoints [2]
int last_proc
double mycost
p_joint_list outer_joints
fVec proc_costs
int schedule_depth
dpScheduleNodeschedule_parent
double single_joint_cost

Detailed Description

Definition at line 35 of file schedule.cpp.


Constructor & Destructor Documentation

dpScheduleNode::dpScheduleNode ( dpScheduleNode potential_parent,
Joint _last_joint,
const fVec _proc_costs,
dpScheduleNode _schedule_parent,
int  child_id,
int  _first_proc,
int  _last_proc,
const joint_list org_internal_joints,
const p_joint_list org_outer_joints 
) [inline]

Definition at line 39 of file schedule.cpp.

Definition at line 119 of file schedule.cpp.


Member Function Documentation

double dpScheduleNode::add_to_child_side ( Joint cur,
joint_list added_joints,
int n_outer_parent_side,
int n_outer_child_side 
) [private]

Definition at line 637 of file schedule.cpp.

double dpScheduleNode::add_to_parent_side ( Joint cur,
joint_list added_joints,
int n_outer_parent_side,
int n_outer_child_side 
) [private]

Definition at line 655 of file schedule.cpp.

double dpScheduleNode::calc_astar_cost ( dpNode potential_parent) [inline, protected, virtual]

Compute the A-star cost at the node (optional).

Reimplemented from dpNode.

Definition at line 279 of file schedule.cpp.

double dpScheduleNode::calc_cost ( ) [inline, protected, virtual]

Compute the local cost at the node.

Implements dpNode.

Definition at line 275 of file schedule.cpp.

double dpScheduleNode::calc_min_subchain_cost ( const p_joint_list _outer_joints,
joint_list added_joints 
) [private]

Definition at line 445 of file schedule.cpp.

double dpScheduleNode::calc_min_subchain_cost_sub ( Joint cur,
const p_joint_list _outer_joints,
int n_outer_parent_side,
int n_outer_child_side,
joint_list added_joints 
) [private]

Definition at line 527 of file schedule.cpp.

double dpScheduleNode::calc_single_joint_cost ( int  n_dof,
int  n_outer 
) [inline, private]

Definition at line 356 of file schedule.cpp.

int dpScheduleNode::create_child_nodes ( dpNode **&  nodes) [inline, protected, virtual]

Create (potential) child nodes.

Create (potential) child nodes.

Parameters:
[out]nodesarray of pointers to the child nodes

Implements dpNode.

Definition at line 150 of file schedule.cpp.

dpScheduleNode * dpScheduleNode::find_available_parent ( int  target_depth,
int child_id 
) [protected]

Definition at line 680 of file schedule.cpp.

dpScheduleNode * dpScheduleNode::find_available_parent_sub ( dpScheduleNode cur,
int  target_depth,
dpNode cur_leaf,
int child_id 
) [protected]

Definition at line 691 of file schedule.cpp.

Definition at line 132 of file schedule.cpp.

int dpScheduleNode::is_goal ( ) [inline, protected, virtual]

Check if the state is goal.

Implements dpNode.

Definition at line 338 of file schedule.cpp.

Definition at line 126 of file schedule.cpp.

Definition at line 135 of file schedule.cpp.

int dpScheduleNode::list_all_internal_joints_rev ( Joint cur,
joint_list all_internal 
) [protected]

Definition at line 409 of file schedule.cpp.

int dpScheduleNode::list_all_internal_joints_sub ( Joint cur,
joint_list all_internal 
) [protected]

Definition at line 427 of file schedule.cpp.

Definition at line 368 of file schedule.cpp.

Definition at line 122 of file schedule.cpp.

int dpScheduleNode::same_state ( dpNode refnode) [inline, protected, virtual]

Check if the node's state is the same as refnode. (to remove duplicates)

Implements dpNode.

Definition at line 334 of file schedule.cpp.

Definition at line 129 of file schedule.cpp.

int dpScheduleNode::set_outer_joints ( pJoint last_pjoint,
const p_joint_list org_outer_joints,
p_joint_list new_outer_joints 
) [protected]

Definition at line 875 of file schedule.cpp.

int dpScheduleNode::split_internal_joints ( Joint _last_joint,
const joint_list org_internal_joints,
joint_list _internal_joints_0,
joint_list _internal_joints_1 
) [protected]

Definition at line 847 of file schedule.cpp.


Member Data Documentation

Definition at line 354 of file schedule.cpp.

Definition at line 349 of file schedule.cpp.

Definition at line 343 of file schedule.cpp.

Definition at line 344 of file schedule.cpp.

Definition at line 354 of file schedule.cpp.

double dpScheduleNode::mycost [private]

Definition at line 352 of file schedule.cpp.

Definition at line 348 of file schedule.cpp.

Definition at line 353 of file schedule.cpp.

Definition at line 346 of file schedule.cpp.

Definition at line 347 of file schedule.cpp.

Definition at line 351 of file schedule.cpp.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:59