vigir_footstep_planning_plugins: vigir_footstep

Namespaces
	threading

	vis

Classes
class	CollisionCheckGridMapPlugin

class	CollisionCheckPlugin

class	ExtendedPluginAggregator

class	Footstep

class	FootstepPlanningVisNode

class	Heuristic

class	HeuristicPlugin

class	PlanningState

class	PostProcessor

class	PostProcessPlugin

class	ReachabilityPlugin

class	RobotModel

class	RobotModelPlugin

class	SimpleActionClient

class	SimpleActionServer

class	Singleton

class	State

class	StateGenerator

class	StateGeneratorPlugin

class	StepCostEstimator

class	StepCostEstimatorPlugin

class	StepPlanMsgPlugin

class	TerrainModelPlugin

class	WorldModel

Enumerations
enum	Leg

Functions
double	angle_cell_2_state (int angle, double angle_bin_size)

int	angle_state_2_cell (double angle, double angle_bin_size)

unsigned int	calc_hash_tag (int x, int y, int theta, int leg, unsigned int hash_pred, unsigned int hash_succ, int max_hash_size)

double	cell_2_state (int value, double cell_size)

double	cont_val (int length, double cell_size)

msgs::ErrorStatus	determineGoalFeetPose (msgs::Feet &goal_feet, ros::ServiceClient &generate_feet_pose_client, const geometry_msgs::PoseStamped &goal_pose)

msgs::ErrorStatus	determineStartFeetPose (msgs::Feet &start_feet, ros::ServiceClient &generate_feet_pose_client, const std_msgs::Header &header)

int	disc_val (double length, double cell_size)

double	euclidean_distance (int x1, int y1, int x2, int y2)

double	euclidean_distance (double x1, double y1, double x2, double y2)

double	euclidean_distance (int x1, int y1, int z1, int x2, int y2, int z2)

double	euclidean_distance (double x1, double y1, double z1, double x2, double y2, double z2)

double	euclidean_distance_sq (double x1, double y1, double z1, double x2, double y2, double z2)

double	euclidean_distance_sq (int x1, int y1, int x2, int y2)

double	euclidean_distance_sq (double x1, double y1, double x2, double y2)

double	euclidean_distance_sq (int x1, int y1, int z1, int x2, int y2, int z2)

void	getDeltaStep (const msgs::Foot &current, const msgs::Foot &next, geometry_msgs::Pose &dstep)

void	getDeltaStep (const tf::Pose &current, const tf::Pose &next, tf::Pose &dstep)

bool	getFootSize (ros::NodeHandle &nh, geometry_msgs::Vector3 &foot_size)

bool	getGridMapCoords (const nav_msgs::OccupancyGrid &map, double x, double y, int &map_x, int &map_y)

bool	getGridMapIndex (const nav_msgs::OccupancyGrid &map, double x, double y, int &idx)

bool	getRPY (ros::NodeHandle &nh, const std::string name, geometry_msgs::Vector3 &val)

bool	getUpperBodyOriginShift (ros::NodeHandle &nh, geometry_msgs::Vector3 &upper_body_origin_shift)

bool	getUpperBodySize (ros::NodeHandle &nh, geometry_msgs::Vector3 &upper_body_size)

bool	getXYZ (ros::NodeHandle &nh, const std::string name, geometry_msgs::Vector3 &val)

double	grid_cost (int x1, int y1, int x2, int y2, float cell_size)

unsigned int	int_hash (int key)

void	normalToQuaternion (const geometry_msgs::Vector3 &n, double yaw, geometry_msgs::Quaternion &q)

void	normalToRP (const geometry_msgs::Vector3 &n, double yaw, double &r, double &p)

double	parabol (double x, double y, double a_inv, double b_inv)

double	pceil (double x, double prec)

double	pfloor (double x, double prec)

bool	pointWithinPolygon (int x, int y, const std::vector< std::pair< int, int > > &edges)

double	pround (double x, double prec)

void	quaternionToNormal (const geometry_msgs::Quaternion &q, geometry_msgs::Vector3 &n)

void	quaternionToNormalYaw (const geometry_msgs::Quaternion &q, geometry_msgs::Vector3 &n, double &yaw)

void	RPYToNormal (double r, double p, double y, geometry_msgs::Vector3 &n)

int	state_2_cell (float value, float cell_size)

std::string &	strip (std::string &s, const char c)

std::string	strip_const (const std::string &s, const char c)

msgs::ErrorStatus	transform (msgs::Feet &feet, ros::ServiceClient &transform_feet_poses_client, const std::string &target_frame)

msgs::ErrorStatus	transform (msgs::StepPlan &step_plan, ros::ServiceClient &transform_step_plan_client, const std::string &target_frame)

msgs::ErrorStatus	transform (msgs::Foot &foot, ros::ServiceClient &transform_foot_pose_client, const std::string &target_frame)

msgs::ErrorStatus	transformToPlannerFrame (T &p, ros::ServiceClient &foot_pose_transformer_client)

msgs::ErrorStatus	transformToRobotFrame (T &p, ros::ServiceClient &foot_pose_transformer_client)

Variables
static const int	cvMmScale

static const double	FLOAT_CMP_THR

	LEFT

	NOLEG

	RIGHT

static const double	TWO_PI

Namespaces

Classes

Enumerations

Functions

Variables