#include <FFAnalyzer.h>

Inheritance diagram for FFAnalyzer:

Public Types
typedef Eigen::Matrix3d	M3

typedef Eigen::MatrixXd	MX

typedef Eigen::Vector3d	V3

typedef Eigen::VectorXd	VX

Public Types inherited from SeqAnalyzer
typedef Eigen::Matrix3d	M3

typedef Eigen::MatrixXd	MX

typedef Eigen::Vector3d	V3

typedef Eigen::VectorXd	VX

Public Member Functions
	FFAnalyzer (DualGraph ptr_dualgraph, QuadricCollision ptr_collision, Stiffness ptr_stiffness, FiberPrintPARM ptr_parm, char *ptr_path, bool terminal_output, bool file_output, descartes_core::RobotModelPtr hotend_model, moveit::core::RobotModelConstPtr moveit_model, std::string hotend_group_name) noexcept

void	PrintOutTimer ()

bool	SeqPrint ()

bool	SeqPrintLayer (std::vector< int > layer_id)

	~FFAnalyzer ()

Public Member Functions inherited from SeqAnalyzer
bool	ConstructCollisionObjsInQueue (const std::vector< int > &print_queue_edge_ids, std::vector< choreo_msgs::WireFrameCollisionObject > &collision_objs)

bool	InputPrintOrder (const std::vector< int > &print_queue)

void	OutputPrintOrder (std::vector< WF_edge * > &print_queue)

void	OutputTaskSequencePlanningResult (std::vector< SingleTaskPlanningResult > &planning_result)

	SeqAnalyzer (DualGraph ptr_dualgraph, QuadricCollision ptr_collision, Stiffness ptr_stiffness, FiberPrintPARM ptr_parm, char *ptr_path, bool terminal_output, bool file_output, descartes_core::RobotModelPtr hotend_model, moveit::core::RobotModelConstPtr moveit_model, std::string hotend_group_name) noexcept

void	setFrameMsgs (const std::vector< choreo_msgs::ElementCandidatePoses > &frame_msg)

virtual	~SeqAnalyzer ()

Private Member Functions
double	GenerateCost (WF_edge *ej, const int h, const int t, const int layer_id)

bool	GenerateSeq (int l, int h, int t)

Private Attributes
Timer	FF_analyzer_

std::vector< std::vector< WF_edge * > >	layers_

double	max_base_dist_

double	max_z_

double	min_base_dist_

double	min_z_

Additional Inherited Members
Public Attributes inherited from SeqAnalyzer
std::vector< choreo_msgs::ElementCandidatePoses >	frame_msgs_

QuadricCollision *	ptr_collision_

DualGraph *	ptr_dualgraph_

WireFrame *	ptr_frame_

char *	ptr_path_

Stiffness *	ptr_stiffness_

Protected Member Functions inherited from SeqAnalyzer
void	Init ()

void	PrintPillars ()

void	RecoverStateMap (WF_edge *e, vector< vector< lld >> &state_map)

void	RecoverStructure (WF_edge *e, bool update_collision=false)

WF_edge *	RouteEdgeDirection (const WF_edge prev_e, WF_edge e)

bool	TestifyStiffness (WF_edge *e)

bool	TestRobotKinematics (WF_edge *e, const std::vector< lld > &colli_map)

void	UpdateStateMap (WF_edge *e, vector< vector< lld >> &state_map)

void	UpdateStructure (WF_edge *e, bool update_collision=false)

Protected Attributes inherited from SeqAnalyzer
vector< vector< unsigned long long > >	angle_state_

VX	D0_

double	D_tol_

bool	file_output_

double	gamma_

std::string	hotend_group_name_

descartes_core::RobotModelPtr	hotend_model_

moveit::core::RobotModelConstPtr	moveit_model_

int	Nd_

int	num_backtrack_

int	num_p_assign_visited_

planning_scene::PlanningScenePtr	planning_scene_

std::vector< WF_edge * >	print_queue_

DualGraph *	ptr_wholegraph_

Timer	rec_map_

Timer	rec_struct_

int	search_rerun_

bool	terminal_output_

Timer	test_stiff_

Timer	upd_map_

Timer	upd_map_collision_

Timer	upd_struct_

bool	update_collision_

double	Wa_

double	Wi_

double	Wp_

Detailed Description

Definition at line 57 of file FFAnalyzer.h.

Member Typedef Documentation

typedef Eigen::Matrix3d FFAnalyzer::M3

Definition at line 61 of file FFAnalyzer.h.

typedef Eigen::MatrixXd FFAnalyzer::MX

Definition at line 60 of file FFAnalyzer.h.

typedef Eigen::Vector3d FFAnalyzer::V3

Definition at line 63 of file FFAnalyzer.h.

typedef Eigen::VectorXd FFAnalyzer::VX

Definition at line 62 of file FFAnalyzer.h.

Constructor & Destructor Documentation

FFAnalyzer::FFAnalyzer	(	DualGraph *	ptr_dualgraph,
		QuadricCollision *	ptr_collision,
		Stiffness *	ptr_stiffness,
		FiberPrintPARM *	ptr_parm,
		char *	ptr_path,
		bool	terminal_output,
		bool	file_output,
		descartes_core::RobotModelPtr	hotend_model,
		moveit::core::RobotModelConstPtr	moveit_model,
		std::string	hotend_group_name
	)

inlineexplicitnoexcept

Definition at line 66 of file FFAnalyzer.h.

FFAnalyzer::~FFAnalyzer ( )

Definition at line 3 of file FFAnalyzer.cpp.

Member Function Documentation

double FFAnalyzer::GenerateCost	(	WF_edge *	ej,
		const int	h,
		const int	t,
		const int	layer_id
	)

private

Definition at line 359 of file FFAnalyzer.cpp.

bool FFAnalyzer::GenerateSeq	(	int	l,
		int	h,
		int	t
	)

private

Definition at line 240 of file FFAnalyzer.cpp.

void FFAnalyzer::PrintOutTimer ( )

virtual

Reimplemented from SeqAnalyzer.

Definition at line 558 of file FFAnalyzer.cpp.

bool FFAnalyzer::SeqPrint ( )

virtual

Reimplemented from SeqAnalyzer.

Definition at line 7 of file FFAnalyzer.cpp.

bool FFAnalyzer::SeqPrintLayer ( std::vector< int > layer_id )

virtual

Reimplemented from SeqAnalyzer.

Definition at line 106 of file FFAnalyzer.cpp.

Member Data Documentation

Timer FFAnalyzer::FF_analyzer_

private

Definition at line 103 of file FFAnalyzer.h.

std::vector<std::vector<WF_edge*> > FFAnalyzer::layers_

private

Definition at line 95 of file FFAnalyzer.h.

double FFAnalyzer::max_base_dist_

private

Definition at line 101 of file FFAnalyzer.h.

double FFAnalyzer::max_z_

private

Definition at line 98 of file FFAnalyzer.h.

double FFAnalyzer::min_base_dist_

private

Definition at line 100 of file FFAnalyzer.h.

double FFAnalyzer::min_z_

private

Definition at line 97 of file FFAnalyzer.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation