#include <SeqAnalyzer.h>

Inheritance diagram for SeqAnalyzer:

Public Types
typedef Eigen::Matrix3d	M3

typedef Eigen::MatrixXd	MX

typedef Eigen::Vector3d	V3

typedef Eigen::VectorXd	VX

Public Member Functions
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)

virtual void	PrintOutTimer ()

	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

virtual bool	SeqPrint ()

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

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

virtual	~SeqAnalyzer ()

Public Attributes
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
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
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_

Private Member Functions
std::vector< moveit_msgs::CollisionObject >	RecoverCollisionObjects (WF_edge *e, bool shrink=false)

std::vector< moveit_msgs::CollisionObject >	UpdateCollisionObjects (WF_edge *e, bool shrink=false)

Detailed Description

Definition at line 70 of file SeqAnalyzer.h.

Member Typedef Documentation

typedef Eigen::Matrix3d SeqAnalyzer::M3

Definition at line 74 of file SeqAnalyzer.h.

typedef Eigen::MatrixXd SeqAnalyzer::MX

Definition at line 73 of file SeqAnalyzer.h.

typedef Eigen::Vector3d SeqAnalyzer::V3

Definition at line 76 of file SeqAnalyzer.h.

typedef Eigen::VectorXd SeqAnalyzer::VX

Definition at line 75 of file SeqAnalyzer.h.

Constructor & Destructor Documentation

SeqAnalyzer::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
	)

explicitnoexcept

Definition at line 155 of file SeqAnalyzer.cpp.

SeqAnalyzer::~SeqAnalyzer ( )

virtual

Definition at line 194 of file SeqAnalyzer.cpp.

Member Function Documentation

bool SeqAnalyzer::ConstructCollisionObjsInQueue	(	const std::vector< int > &	print_queue_edge_ids,
		std::vector< choreo_msgs::WireFrameCollisionObject > &	collision_objs
	)

Definition at line 888 of file SeqAnalyzer.cpp.

void SeqAnalyzer::Init ( )

protected

Definition at line 214 of file SeqAnalyzer.cpp.

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

Definition at line 869 of file SeqAnalyzer.cpp.

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

Definition at line 933 of file SeqAnalyzer.cpp.

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

Definition at line 944 of file SeqAnalyzer.cpp.

void SeqAnalyzer::PrintOutTimer ( )

virtual

Reimplemented in GecodeAnalyzer, and FFAnalyzer.

Definition at line 210 of file SeqAnalyzer.cpp.

void SeqAnalyzer::PrintPillars ( )

protected

Definition at line 262 of file SeqAnalyzer.cpp.

std::vector< moveit_msgs::CollisionObject > SeqAnalyzer::RecoverCollisionObjects	(	WF_edge *	e,
		bool	shrink = `false`
	)

private

Definition at line 549 of file SeqAnalyzer.cpp.

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

protected

Definition at line 421 of file SeqAnalyzer.cpp.

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

protected

Definition at line 357 of file SeqAnalyzer.cpp.

WF_edge * SeqAnalyzer::RouteEdgeDirection	(	const WF_edge *	prev_e,
		WF_edge *	e
	)

protected

Definition at line 783 of file SeqAnalyzer.cpp.

bool SeqAnalyzer::SeqPrint ( )

virtual

Reimplemented in GecodeAnalyzer, and FFAnalyzer.

Definition at line 200 of file SeqAnalyzer.cpp.

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

virtual

Reimplemented in FFAnalyzer.

Definition at line 205 of file SeqAnalyzer.cpp.

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

inline

Definition at line 94 of file SeqAnalyzer.h.

bool SeqAnalyzer::TestifyStiffness ( WF_edge * e )

protected

Definition at line 640 of file SeqAnalyzer.cpp.

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

protected

Definition at line 681 of file SeqAnalyzer.cpp.

std::vector< moveit_msgs::CollisionObject > SeqAnalyzer::UpdateCollisionObjects	(	WF_edge *	e,
		bool	shrink = `false`
	)

private

Definition at line 447 of file SeqAnalyzer.cpp.

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

protected

Definition at line 380 of file SeqAnalyzer.cpp.

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

protected

Definition at line 305 of file SeqAnalyzer.cpp.

Member Data Documentation

vector<vector<unsigned long long> > SeqAnalyzer::angle_state_

protected

Definition at line 151 of file SeqAnalyzer.h.

VX SeqAnalyzer::D0_

protected

Definition at line 153 of file SeqAnalyzer.h.

double SeqAnalyzer::D_tol_

protected

Definition at line 157 of file SeqAnalyzer.h.

bool SeqAnalyzer::file_output_

protected

Definition at line 164 of file SeqAnalyzer.h.

std::vector<choreo_msgs::ElementCandidatePoses> SeqAnalyzer::frame_msgs_

Definition at line 138 of file SeqAnalyzer.h.

double SeqAnalyzer::gamma_

protected

Definition at line 156 of file SeqAnalyzer.h.

std::string SeqAnalyzer::hotend_group_name_

protected

Definition at line 177 of file SeqAnalyzer.h.

descartes_core::RobotModelPtr SeqAnalyzer::hotend_model_

protected

Definition at line 175 of file SeqAnalyzer.h.

moveit::core::RobotModelConstPtr SeqAnalyzer::moveit_model_

protected

Definition at line 176 of file SeqAnalyzer.h.

int SeqAnalyzer::Nd_

protected

Definition at line 143 of file SeqAnalyzer.h.

int SeqAnalyzer::num_backtrack_

protected

Definition at line 182 of file SeqAnalyzer.h.

int SeqAnalyzer::num_p_assign_visited_

protected

Definition at line 181 of file SeqAnalyzer.h.

planning_scene::PlanningScenePtr SeqAnalyzer::planning_scene_

protected

Definition at line 179 of file SeqAnalyzer.h.

std::vector<WF_edge*> SeqAnalyzer::print_queue_

protected

Definition at line 148 of file SeqAnalyzer.h.

QuadricCollision* SeqAnalyzer::ptr_collision_

Definition at line 135 of file SeqAnalyzer.h.

DualGraph* SeqAnalyzer::ptr_dualgraph_

Definition at line 133 of file SeqAnalyzer.h.

WireFrame* SeqAnalyzer::ptr_frame_

Definition at line 132 of file SeqAnalyzer.h.

char* SeqAnalyzer::ptr_path_

Definition at line 136 of file SeqAnalyzer.h.

Stiffness* SeqAnalyzer::ptr_stiffness_

Definition at line 134 of file SeqAnalyzer.h.

DualGraph* SeqAnalyzer::ptr_wholegraph_

protected

Definition at line 146 of file SeqAnalyzer.h.

Timer SeqAnalyzer::rec_map_

protected

Definition at line 172 of file SeqAnalyzer.h.

Timer SeqAnalyzer::rec_struct_

protected

Definition at line 169 of file SeqAnalyzer.h.

int SeqAnalyzer::search_rerun_

protected

Definition at line 184 of file SeqAnalyzer.h.

bool SeqAnalyzer::terminal_output_

protected

Definition at line 163 of file SeqAnalyzer.h.

Timer SeqAnalyzer::test_stiff_

protected

Definition at line 173 of file SeqAnalyzer.h.

Timer SeqAnalyzer::upd_map_

protected

Definition at line 170 of file SeqAnalyzer.h.

Timer SeqAnalyzer::upd_map_collision_

protected

Definition at line 171 of file SeqAnalyzer.h.

Timer SeqAnalyzer::upd_struct_

protected

Definition at line 168 of file SeqAnalyzer.h.

bool SeqAnalyzer::update_collision_

protected

Definition at line 166 of file SeqAnalyzer.h.

double SeqAnalyzer::Wa_

protected

Definition at line 159 of file SeqAnalyzer.h.

double SeqAnalyzer::Wi_

protected

Definition at line 160 of file SeqAnalyzer.h.

double SeqAnalyzer::Wp_

protected

Definition at line 158 of file SeqAnalyzer.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation