Inheritance diagram for dpScheduleNode:

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 ()

Joint *	LastJoint ()

int	LastProc ()

int	ListAllInternalJoints (joint_list &all_internal)

fVec &	ProcCosts ()

int	ScheduleDepth ()

	~dpScheduleNode ()

Public Member Functions inherited from dpNode
double	AstarCost ()

dpNode *	Brother ()

dpNode *	Child ()

double	Cost ()

int	Depth (dpNode *target_p=0)

	dpNode ()

dpNode *	GetParent (int id)

int	ID ()

dpNode *	Parent ()

dpQueue *	Queue ()

double	TotalAstarCost ()

double	TotalCost ()

virtual	~dpNode ()

Protected Member Functions
double	calc_astar_cost (dpNode *potential_parent)
	Compute the A-star cost at the node (optional). More...

double	calc_cost ()
	Compute the local cost at the node. More...

int	create_child_nodes (dpNode **&nodes)
	Create (potential) child nodes. More...

dpScheduleNode *	find_available_parent (int target_depth, int &child_id)

dpScheduleNode *	find_available_parent_sub (dpScheduleNode cur, int target_depth, dpNode cur_leaf, int &child_id)

int	is_goal ()
	Check if the state is goal. More...

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) More...

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)

Protected Member Functions inherited from dpNode
void	add_child (dpNode *n)

virtual void	dump (ostream &ost)

void	dump_all (ostream &ost)

void	dump_trajectory (ostream &ost)

dpNode *	next_breadth (dpNode *refnode)

dpNode *	next_depth (dpNode *first_child=0)

int	open (int _max_nodes, int _max_goals)

void	remove ()

void	remove_single ()

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]

Joint *	last_joint

pJoint *	last_pjoints [2]

int	last_proc

double	mycost

p_joint_list	outer_joints

fVec	proc_costs

int	schedule_depth

dpScheduleNode *	schedule_parent

double	single_joint_cost

Additional Inherited Members
Protected Attributes inherited from dpNode
int	active

double	astar_cost

dpNode *	brother

dpNode *	child

double	cost

int	depth

dpMain *	dp_main

int	id

dpNode *	parent

dpQueue *	queue

double	total_astar_cost

double	total_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.

dpScheduleNode::~dpScheduleNode ( )

inline

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 )

inlineprotectedvirtual

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

Reimplemented from dpNode.

Definition at line 279 of file schedule.cpp.

double dpScheduleNode::calc_cost ( )

inlineprotectedvirtual

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
	)

inlineprivate

Definition at line 356 of file schedule.cpp.

int dpScheduleNode::create_child_nodes ( dpNode **& nodes )

inlineprotectedvirtual

Create (potential) child nodes.

Parameters

[out] nodes array 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.

int dpScheduleNode::FirstProc ( )

inline

Definition at line 132 of file schedule.cpp.

int dpScheduleNode::is_goal ( )

inlineprotectedvirtual

Check if the state is goal.

Implements dpNode.

Definition at line 338 of file schedule.cpp.

Joint* dpScheduleNode::LastJoint ( )

inline

Definition at line 126 of file schedule.cpp.

int dpScheduleNode::LastProc ( )

inline

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.

int dpScheduleNode::ListAllInternalJoints ( joint_list & all_internal )

Definition at line 368 of file schedule.cpp.

fVec& dpScheduleNode::ProcCosts ( )

inline

Definition at line 122 of file schedule.cpp.

int dpScheduleNode::same_state ( dpNode * refnode )

inlineprotectedvirtual

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

Implements dpNode.

Definition at line 334 of file schedule.cpp.

int dpScheduleNode::ScheduleDepth ( )

inline

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

int dpScheduleNode::first_proc

private

Definition at line 354 of file schedule.cpp.

joint_list dpScheduleNode::internal_joints[2]

private

Definition at line 349 of file schedule.cpp.

Joint* dpScheduleNode::last_joint

private

Definition at line 343 of file schedule.cpp.

pJoint* dpScheduleNode::last_pjoints[2]

private

Definition at line 344 of file schedule.cpp.

int dpScheduleNode::last_proc

private

Definition at line 354 of file schedule.cpp.

double dpScheduleNode::mycost

private

Definition at line 352 of file schedule.cpp.

p_joint_list dpScheduleNode::outer_joints

private

Definition at line 348 of file schedule.cpp.

fVec dpScheduleNode::proc_costs

private

Definition at line 353 of file schedule.cpp.

int dpScheduleNode::schedule_depth

private

Definition at line 346 of file schedule.cpp.

dpScheduleNode* dpScheduleNode::schedule_parent

private

Definition at line 347 of file schedule.cpp.

double dpScheduleNode::single_joint_cost

private

Definition at line 351 of file schedule.cpp.

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

schedule.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation