Public Types | Public Member Functions | Public Attributes
vigir_footstep_planning::StateSpace Class Reference

#include <state_space.h>

List of all members.

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 EnvironmentParametersparams
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

Definition at line 93 of file state_space.h.

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.

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.

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.

Definition at line 118 of file state_space.h.

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.

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

Definition at line 422 of file state_space.cpp.

Definition at line 39 of file state_space.cpp.

void vigir_footstep_planning::StateSpace::setFrameId ( const std::string &  frame_id)

Definition at line 71 of file state_space.cpp.

void vigir_footstep_planning::StateSpace::setPlannerStartAndGoal ( unsigned int  start_foot_selection)

Definition at line 144 of file state_space.cpp.

std::pair< int, int > vigir_footstep_planning::StateSpace::updateGoal ( const State &  foot_left,
const State &  foot_right 
)

Definition at line 76 of file state_space.cpp.

std::pair< int, int > vigir_footstep_planning::StateSpace::updateStart ( const State &  foot_left,
const State &  right_right 
)

Definition at line 110 of file state_space.cpp.


Member Data Documentation

Definition at line 166 of file state_space.h.

Definition at line 178 of file state_space.h.

Definition at line 179 of file state_space.h.

Definition at line 209 of file state_space.h.

The heuristic function used by the planner.

Definition at line 202 of file state_space.h.

Definition at line 181 of file state_space.h.

Definition at line 182 of file state_space.h.

Definition at line 170 of file state_space.h.

ID of Start and Goal foot chosen by planner.

Definition at line 169 of file state_space.h.

Definition at line 175 of file state_space.h.

Definition at line 176 of file state_space.h.

Maps from a hash tag to a list of corresponding planning states. (Used in footstep_planner_environment to identify a certain PlanningState.)

Definition at line 199 of file state_space.h.

distance of random neighbors for R* (discretized in cells)

Definition at line 205 of file state_space.h.

random intermediate states for R*

Definition at line 207 of file state_space.h.

Definition at line 184 of file state_space.h.

std::vector<const PlanningState*> vigir_footstep_planning::StateSpace::ivStateId2State

Maps from an ID to the corresponding PlanningState. (Used in the SBPL to access a certain PlanningState.)

Definition at line 192 of file state_space.h.

Definition at line 165 of file state_space.h.

Definition at line 172 of file state_space.h.

Definition at line 173 of file state_space.h.

Definition at line 186 of file state_space.h.


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


vigir_footstep_planner
Author(s): Alexander Stumpf
autogenerated on Fri Apr 7 2017 02:59:36