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footstep_planner::FootstepPlannerEnvironment Class Reference

A class defining a footstep planner environment for humanoid robots used by the SBPL to perform planning tasks. More...

#include <FootstepPlannerEnvironment.h>

Inheritance diagram for footstep_planner::FootstepPlannerEnvironment:
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List of all members.

Classes

struct  IntPairHash
struct  less
 < operator for planning states. More...

Public Types

typedef
exp_states_2d_t::const_iterator 		exp_states_2d_iter_t
typedef
std::tr1::unordered_set
< std::pair< int, int >
, IntPairHash > 		exp_states_2d_t
typedef
exp_states_t::const_iterator 		exp_states_iter_t
typedef std::vector< int > exp_states_t

Public Member Functions

bool AreEquivalent (int StateID1, int StateID2)
 FootstepPlannerEnvironment (const environment_params &params)
exp_states_2d_iter_t getExpandedStatesEnd ()
exp_states_2d_iter_t getExpandedStatesStart ()
int GetFromToHeuristic (int FromStateID, int ToStateID)
int GetGoalHeuristic (int stateID)
int getNumExpandedStates ()
void GetPreds (int TargetStateID, std::vector< int > *PredIDV, std::vector< int > *CostV)
 Calculates the predecessor states and the corresponding costs when reversing the footstep set on the planning state TargetStateID. (Used for backward planning.).
void getPredsOfGridCells (const std::vector< State > &changed_states, std::vector< int > *pred_ids)
virtual void GetRandomPredsatDistance (int TargetStateID, std::vector< int > *PredIDV, std::vector< int > *CLowV)
 Used for RStar: generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment.
exp_states_iter_t getRandomStatesEnd ()
exp_states_iter_t getRandomStatesStart ()
virtual void GetRandomSuccsatDistance (int SourceStateID, std::vector< int > *SuccIDV, std::vector< int > *CLowV)
 Used for RStar: generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment.
int GetStartHeuristic (int stateID)
bool getState (unsigned int id, State *s)
 Try to receive a state with a certain ID.
void GetSuccs (int SourceStateID, std::vector< int > *SuccIDV, std::vector< int > *CostV)
 Calculates the successor states and the corresponding costs when performing the footstep set on the planning state SourceStateID. (Used for forward planning.).
void getSuccsOfGridCells (const std::vector< State > &changed_states, std::vector< int > *succ_ids)
void GetSuccsTo (int SourceStateID, int goalStateID, std::vector< int > *SuccIDV, std::vector< int > *CostV)
 Testing, for R*.
bool InitializeEnv (const char *sEnvFile)
bool InitializeMDPCfg (MDPConfig *MDPCfg)
bool occupied (const State &s)
void PrintEnv_Config (FILE *fOut)
void PrintState (int stateID, bool bVerbose, FILE *fOut)
bool reachable (const PlanningState &from, const PlanningState &to)
void reset ()
 Resets the current planning task (i.e. the start and goal poses).
void SetAllActionsandAllOutcomes (CMDPSTATE *state)
void SetAllPreds (CMDPSTATE *state)
int SizeofCreatedEnv ()
void updateGoal (const State &foot_left, const State &foot_right)
 Update the goal pose for both feet.
void updateHeuristicValues ()
 Update the heuristic values (e.g. after the map has changed). The environment takes care that the update is only done when it is necessary.
void updateMap (gridmap_2d::GridMap2DPtr map)
void updateStart (const State &foot_left, const State &right_right)
 Update the start pose for both feet.
virtual ~FootstepPlannerEnvironment ()

Static Public Attributes

static const int cvMmScale = 1000
 Used to scale continuous values in meter to discrete values in mm.

Protected Member Functions

bool closeToGoal (const PlanningState &from)
bool closeToStart (const PlanningState &from)
const PlanningState * createHashEntryIfNotExists (const PlanningState &s)
const PlanningState * createNewHashEntry (const PlanningState &s)
 Creates a new planning state for 's' and inserts it into the maps (PlanningState::ivStateId2State, PlanningState::ivpStateHash2State).
const PlanningState * createNewHashEntry (const State &s)
 Wrapper for FootstepPlannerEnvironment::createNewHashEntry(PlanningState).
int GetFromToHeuristic (const PlanningState &from, const PlanningState &to)
const PlanningState * getHashEntry (const PlanningState &s)
const PlanningState * getHashEntry (const State &s)
 Wrapper for FootstepPlannerEnvironment::getHashEntry(PlanningState).
void GetRandomNeighs (const PlanningState *currentState, std::vector< int > *NeighIDV, std::vector< int > *CLowV, int nNumofNeighs, int nDist_c, bool bSuccs)
bool occupied (const PlanningState &s)
bool pointWithinPolygon (const std::pair< int, int > &point, const std::vector< std::pair< int, int > > &edges)
 Crossing number method to determine whether a point lies within a polygon or not.
int stepCost (const PlanningState &a, const PlanningState &b)

Protected Attributes

const double ivCellSize
 The size of each grid cell used to discretize the robot positions.
const int ivCollisionCheckAccuracy
 Whether to check just the foot's inner circle (0), the hole outer circle (1) or exactly the foot's bounding box (2) for collision.
exp_states_2d_t ivExpandedStates
const double ivFootsizeX
 Size of the foot in x direction.
const double ivFootsizeY
 Size of the foot in y direction.
const std::vector< Footstep > & ivFootstepSet
 The set of footsteps used for the path planning.
const bool ivForwardSearch
 Whether to use forward search (1) or backward search (0).
const int ivHashTableSize
 Size of the hash table storing the planning states expanded during the search. (Also referred to by max_hash_size.).
const boost::shared_ptr
< Heuristic > 		ivHeuristicConstPtr
 The heuristic function used by the planner.
bool ivHeuristicExpired
double ivHeuristicScale
int ivIdGoalFootLeft
 ID of the goal pose of the left foot.
int ivIdGoalFootRight
 ID of the goal pose of the right foot.
int ivIdStartFootLeft
 ID of the start pose of the left foot.
int ivIdStartFootRight
 ID of the start pose of the right foot.
boost::shared_ptr
< gridmap_2d::GridMap2D > 		ivMapPtr
 Pointer to the map.
int ivMaxFootstepTheta
 The maximal rotation (discretized into bins).
const int ivMaxFootstepX
 The maximal translation in x direction (discretized in cell size).
const int ivMaxFootstepY
 The maximal translation in y direction (discretized in cell size).
int ivMaxInvFootstepTheta
 The minimal rotation (discretized into bins).
const int ivMaxInvFootstepX
 The minimal translation in x direction (discretized in cell size).
const int ivMaxInvFootstepY
 The minimal translation in y direction (discretized in cell size).
double ivMaxStepWidth
const int ivNumAngleBins
 The number of bins used to discretize the robot orientations.
size_t ivNumExpandedStates
const int ivNumRandomNodes
 number of random neighbors for R*
const double ivOriginFootShiftX
 Shift in x direction from the foot's center.
const double ivOriginFootShiftY
 Shift in y direction from the foot's center.
std::vector< const
PlanningState * > * 		ivpStateHash2State
 Maps from a hash tag to a list of corresponding planning states. (Used in FootstepPlannerEnvironment 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< const
PlanningState * > 		ivStateId2State
 Maps from an ID to the corresponding PlanningState. (Used in the SBPL to access a certain PlanningState.).
const int ivStepCost
 The costs for each step (discretized with the help of cvMmScale).
bool * ivStepRange

Detailed Description

A class defining a footstep planner environment for humanoid robots used by the SBPL to perform planning tasks.

The environment keeps track of all the planning states expanded during the search. Each planning state can be accessed via its ID. Furthermore

Definition at line 74 of file FootstepPlannerEnvironment.h.

Member Typedef Documentation

typedef exp_states_2d_t::const_iterator footstep_planner::FootstepPlannerEnvironment::exp_states_2d_iter_t

Definition at line 89 of file FootstepPlannerEnvironment.h.

typedef std::tr1::unordered_set<std::pair<int,int>, IntPairHash > footstep_planner::FootstepPlannerEnvironment::exp_states_2d_t

Definition at line 88 of file FootstepPlannerEnvironment.h.

typedef exp_states_t::const_iterator footstep_planner::FootstepPlannerEnvironment::exp_states_iter_t

Definition at line 87 of file FootstepPlannerEnvironment.h.

typedef std::vector<int> footstep_planner::FootstepPlannerEnvironment::exp_states_t

Definition at line 86 of file FootstepPlannerEnvironment.h.

Constructor & Destructor Documentation

footstep_planner::FootstepPlannerEnvironment::FootstepPlannerEnvironment ( const environment_params &  params  ) 
Parameters:
footstep_set The set of footsteps used for the path planning.
heuristic The heuristic used by the planner.
footsize_x Size of the foot in x direction.
footsize_y Size of the foot in y direction.
origin_foot_shift_x Shift in x direction from the foot's center.
origin_foot_shift_y Shift in y direction from the foot's center.
max_footstep_x The maximal translation in x direction performable by the robot.
max_footstep_y The maximal translation in y direction performable by the robot.
max_footstep_theta The maximal rotation performable by the robot.
max_inverse_footstep_x The minimal translation in x direction performable by the robot.
max_inverse_footstep_y The minimal translation in y direction performable by the robot.
max_inverse_footstep_theta The minimal rotation performable by the robot.
step_cost The costs for each step.
collision_check_accuracy Whether to check just the foot's circumcircle (0), the incircle (1) or recursively the circumcircle and the incircle for the whole foot (2) for collision.
hash_table_size Size of the hash table storing the planning states expanded during the search.
cell_size The size of each grid cell used to discretize the robot positions.
num_angle_bins The number of bins used to discretize the robot orientations.
forward_search Whether to use forward search (1) or backward search (0).

Definition at line 29 of file FootstepPlannerEnvironment.cpp.

footstep_planner::FootstepPlannerEnvironment::~FootstepPlannerEnvironment (  )  [virtual]

Definition at line 86 of file FootstepPlannerEnvironment.cpp.

Member Function Documentation

bool footstep_planner::FootstepPlannerEnvironment::AreEquivalent ( int  StateID1,
int  StateID2 
) [virtual]
Returns:
True if two states meet the same condition. Used for R*.

Reimplemented from DiscreteSpaceInformation.

Definition at line 1084 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::closeToGoal ( const PlanningState &  from  )  [protected]
Returns:
True iff 'goal' can be reached by an arbitrary footstep. (Used for forward planning.)

Definition at line 446 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::closeToStart ( const PlanningState &  from  )  [protected]
Returns:
True iff 'start' can be reached by an arbitrary footstep. (Used for backward planning.)

Definition at line 432 of file FootstepPlannerEnvironment.cpp.

const PlanningState * footstep_planner::FootstepPlannerEnvironment::createHashEntryIfNotExists ( const PlanningState &  s  )  [protected]

Definition at line 257 of file FootstepPlannerEnvironment.cpp.

const PlanningState * footstep_planner::FootstepPlannerEnvironment::createNewHashEntry ( const PlanningState &  s  )  [protected]

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 204 of file FootstepPlannerEnvironment.cpp.

const PlanningState * footstep_planner::FootstepPlannerEnvironment::createNewHashEntry ( const State &  s  )  [protected]

Wrapper for FootstepPlannerEnvironment::createNewHashEntry(PlanningState).

Definition at line 196 of file FootstepPlannerEnvironment.cpp.

exp_states_2d_iter_t footstep_planner::FootstepPlannerEnvironment::getExpandedStatesEnd (  )  [inline]

Definition at line 164 of file FootstepPlannerEnvironment.h.

exp_states_2d_iter_t footstep_planner::FootstepPlannerEnvironment::getExpandedStatesStart (  )  [inline]

Definition at line 159 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::GetFromToHeuristic ( const PlanningState &  from,
const PlanningState &  to 
) [protected]
Returns:
The costs (in mm, truncated as int) to reach the planning state ToStateID from within planning state FromStateID.

Definition at line 639 of file FootstepPlannerEnvironment.cpp.

int footstep_planner::FootstepPlannerEnvironment::GetFromToHeuristic ( int  FromStateID,
int  ToStateID 
) [virtual]
Returns:
The costs (in mm, truncated as int) to reach the planning state ToStateID from within planning state FromStateID.

Implements DiscreteSpaceInformation.

Definition at line 618 of file FootstepPlannerEnvironment.cpp.

int footstep_planner::FootstepPlannerEnvironment::GetGoalHeuristic ( int  stateID  )  [virtual]
Returns:
The heuristic value to reach the goal from within the planning state stateID (used for forward planning).

Implements DiscreteSpaceInformation.

Definition at line 648 of file FootstepPlannerEnvironment.cpp.

const PlanningState * footstep_planner::FootstepPlannerEnvironment::getHashEntry ( const PlanningState &  s  )  [protected]
Returns:
The pointer to the planning state 's' stored in FootstepPlannerEnvironment::ivpStateHash2State.

Definition at line 241 of file FootstepPlannerEnvironment.cpp.

const PlanningState * footstep_planner::FootstepPlannerEnvironment::getHashEntry ( const State &  s  )  [protected]

Wrapper for FootstepPlannerEnvironment::getHashEntry(PlanningState).

Definition at line 233 of file FootstepPlannerEnvironment.cpp.

int footstep_planner::FootstepPlannerEnvironment::getNumExpandedStates (  )  [inline]
Returns:
The number of expanded states during the search.

Definition at line 157 of file FootstepPlannerEnvironment.h.

void footstep_planner::FootstepPlannerEnvironment::GetPreds ( int  TargetStateID,
std::vector< int > *  PredIDV,
std::vector< int > *  CostV 
) [virtual]

Calculates the predecessor states and the corresponding costs when reversing the footstep set on the planning state TargetStateID. (Used for backward planning.).

Implements DiscreteSpaceInformation.

Definition at line 655 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::getPredsOfGridCells ( const std::vector< State > &  changed_states,
std::vector< int > *  pred_ids 
)

Definition at line 556 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::GetRandomNeighs ( const PlanningState *  currentState,
std::vector< int > *  NeighIDV,
std::vector< int > *  CLowV,
int  nNumofNeighs,
int  nDist_c,
bool  bSuccs 
) [protected]

Definition at line 929 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::GetRandomPredsatDistance ( int  TargetStateID,
std::vector< int > *  PredIDV,
std::vector< int > *  CLowV 
) [virtual]

Used for RStar: generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment.

Reimplemented from DiscreteSpaceInformation.

Definition at line 902 of file FootstepPlannerEnvironment.cpp.

exp_states_iter_t footstep_planner::FootstepPlannerEnvironment::getRandomStatesEnd (  )  [inline]

Definition at line 174 of file FootstepPlannerEnvironment.h.

exp_states_iter_t footstep_planner::FootstepPlannerEnvironment::getRandomStatesStart (  )  [inline]

Definition at line 169 of file FootstepPlannerEnvironment.h.

void footstep_planner::FootstepPlannerEnvironment::GetRandomSuccsatDistance ( int  SourceStateID,
std::vector< int > *  SuccIDV,
std::vector< int > *  CLowV 
) [virtual]

Used for RStar: generate succs/preds at some domain-dependent distance. The number of generated succs/preds is up to the environment.

Reimplemented from DiscreteSpaceInformation.

Definition at line 880 of file FootstepPlannerEnvironment.cpp.

int footstep_planner::FootstepPlannerEnvironment::GetStartHeuristic ( int  stateID  )  [virtual]
Returns:
The heuristic value to reach the start from within the planning state stateID. (Used for backward planning.)

Implements DiscreteSpaceInformation.

Definition at line 721 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::getState ( unsigned int  id,
State *  s 
)

Try to receive a state with a certain ID.

Returns:
True iff there is a state with such an ID.

Definition at line 319 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::GetSuccs ( int  SourceStateID,
std::vector< int > *  SuccIDV,
std::vector< int > *  CostV 
) [virtual]

Calculates the successor states and the corresponding costs when performing the footstep set on the planning state SourceStateID. (Used for forward planning.).

Implements DiscreteSpaceInformation.

Definition at line 728 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::getSuccsOfGridCells ( const std::vector< State > &  changed_states,
std::vector< int > *  succ_ids 
)

Definition at line 587 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::GetSuccsTo ( int  SourceStateID,
int  goalStateID,
std::vector< int > *  SuccIDV,
std::vector< int > *  CostV 
)

Testing, for R*.

Definition at line 797 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::InitializeEnv ( const char *  sEnvFile  )  [virtual]

Implements DiscreteSpaceInformation.

Definition at line 1111 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::InitializeMDPCfg ( MDPConfig *  MDPCfg  )  [virtual]

Implements DiscreteSpaceInformation.

Definition at line 1120 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::occupied ( const PlanningState &  s  )  [protected]
Returns:
True iff the foot in 's' is colliding with an obstacle.

Definition at line 294 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::occupied ( const State &  s  ) 
Returns:
True iff the foot in State s is colliding with an obstacle.

Definition at line 286 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::pointWithinPolygon ( const std::pair< int, int > &  point,
const std::vector< std::pair< int, int > > &  edges 
) [protected]

Crossing number method to determine whether a point lies within a polygon or not.

Check http://geomalgorithms.com/a03-_inclusion.html for further details.

Definition at line 1208 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::PrintEnv_Config ( FILE *  fOut  )  [virtual]

Implements DiscreteSpaceInformation.

Definition at line 1135 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::PrintState ( int  stateID,
bool  bVerbose,
FILE *  fOut 
) [virtual]

Implements DiscreteSpaceInformation.

Definition at line 1144 of file FootstepPlannerEnvironment.cpp.

bool footstep_planner::FootstepPlannerEnvironment::reachable ( const PlanningState &  from,
const PlanningState &  to 
)
Returns:
True iff 'to' can be reached by an arbitrary footstep that can be performed by the robot from within 'from'. (This method is used to check whether the goal/start can be reached from within the current state.)

Definition at line 461 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::reset (  ) 

Resets the current planning task (i.e. the start and goal poses).

Definition at line 392 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::SetAllActionsandAllOutcomes ( CMDPSTATE *  state  )  [virtual]

Implements DiscreteSpaceInformation.

Definition at line 1173 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::SetAllPreds ( CMDPSTATE *  state  )  [virtual]

Implements DiscreteSpaceInformation.

Definition at line 1187 of file FootstepPlannerEnvironment.cpp.

int footstep_planner::FootstepPlannerEnvironment::SizeofCreatedEnv (  )  [virtual]

Implements DiscreteSpaceInformation.

Definition at line 1201 of file FootstepPlannerEnvironment.cpp.

int footstep_planner::FootstepPlannerEnvironment::stepCost ( const PlanningState &  a,
const PlanningState &  b 
) [protected]
Returns:
The step cost for reaching 'b' from within 'a'.

Definition at line 270 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::updateGoal ( const State &  foot_left,
const State &  foot_right 
)

Update the goal pose for both feet.

Definition at line 100 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::updateHeuristicValues (  ) 

Update the heuristic values (e.g. after the map has changed). The environment takes care that the update is only done when it is necessary.

Definition at line 352 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::updateMap ( gridmap_2d::GridMap2DPtr  map  ) 

Definition at line 336 of file FootstepPlannerEnvironment.cpp.

void footstep_planner::FootstepPlannerEnvironment::updateStart ( const State &  foot_left,
const State &  right_right 
)

Update the start pose for both feet.

Definition at line 148 of file FootstepPlannerEnvironment.cpp.

Member Data Documentation

const int footstep_planner::FootstepPlannerEnvironment::cvMmScale = 1000 [static]

Used to scale continuous values in meter to discrete values in mm.

Definition at line 274 of file FootstepPlannerEnvironment.h.

const double footstep_planner::FootstepPlannerEnvironment::ivCellSize [protected]

The size of each grid cell used to discretize the robot positions.

Definition at line 419 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivCollisionCheckAccuracy [protected]

Whether to check just the foot's inner circle (0), the hole outer circle (1) or exactly the foot's bounding box (2) for collision.

Definition at line 410 of file FootstepPlannerEnvironment.h.

exp_states_2d_t footstep_planner::FootstepPlannerEnvironment::ivExpandedStates [protected]

Definition at line 444 of file FootstepPlannerEnvironment.h.

const double footstep_planner::FootstepPlannerEnvironment::ivFootsizeX [protected]

Size of the foot in x direction.

Definition at line 376 of file FootstepPlannerEnvironment.h.

const double footstep_planner::FootstepPlannerEnvironment::ivFootsizeY [protected]

Size of the foot in y direction.

Definition at line 378 of file FootstepPlannerEnvironment.h.

const std::vector<Footstep>& footstep_planner::FootstepPlannerEnvironment::ivFootstepSet [protected]

The set of footsteps used for the path planning.

Definition at line 370 of file FootstepPlannerEnvironment.h.

const bool footstep_planner::FootstepPlannerEnvironment::ivForwardSearch [protected]

Whether to use forward search (1) or backward search (0).

Definition at line 424 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivHashTableSize [protected]

Size of the hash table storing the planning states expanded during the search. (Also referred to by max_hash_size.).

Definition at line 416 of file FootstepPlannerEnvironment.h.

const boost::shared_ptr<Heuristic> footstep_planner::FootstepPlannerEnvironment::ivHeuristicConstPtr [protected]

The heuristic function used by the planner.

Definition at line 373 of file FootstepPlannerEnvironment.h.

bool footstep_planner::FootstepPlannerEnvironment::ivHeuristicExpired [protected]

Definition at line 439 of file FootstepPlannerEnvironment.h.

double footstep_planner::FootstepPlannerEnvironment::ivHeuristicScale [protected]

Scaling factor of heuristic, in case it underestimates by a constant factor.

Definition at line 437 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivIdGoalFootLeft [protected]

ID of the goal pose of the left foot.

Definition at line 352 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivIdGoalFootRight [protected]

ID of the goal pose of the right foot.

Definition at line 354 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivIdStartFootLeft [protected]

ID of the start pose of the left foot.

Definition at line 348 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivIdStartFootRight [protected]

ID of the start pose of the right foot.

Definition at line 350 of file FootstepPlannerEnvironment.h.

boost::shared_ptr<gridmap_2d::GridMap2D> footstep_planner::FootstepPlannerEnvironment::ivMapPtr [protected]

Pointer to the map.

Definition at line 442 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivMaxFootstepTheta [protected]

The maximal rotation (discretized into bins).

Definition at line 390 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivMaxFootstepX [protected]

The maximal translation in x direction (discretized in cell size).

Definition at line 386 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivMaxFootstepY [protected]

The maximal translation in y direction (discretized in cell size).

Definition at line 388 of file FootstepPlannerEnvironment.h.

int footstep_planner::FootstepPlannerEnvironment::ivMaxInvFootstepTheta [protected]

The minimal rotation (discretized into bins).

Definition at line 397 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivMaxInvFootstepX [protected]

The minimal translation in x direction (discretized in cell size).

Definition at line 393 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivMaxInvFootstepY [protected]

The minimal translation in y direction (discretized in cell size).

Definition at line 395 of file FootstepPlannerEnvironment.h.

double footstep_planner::FootstepPlannerEnvironment::ivMaxStepWidth [protected]

Definition at line 426 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivNumAngleBins [protected]

The number of bins used to discretize the robot orientations.

Definition at line 421 of file FootstepPlannerEnvironment.h.

size_t footstep_planner::FootstepPlannerEnvironment::ivNumExpandedStates [protected]

Definition at line 446 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivNumRandomNodes [protected]

number of random neighbors for R*

Definition at line 429 of file FootstepPlannerEnvironment.h.

const double footstep_planner::FootstepPlannerEnvironment::ivOriginFootShiftX [protected]

Shift in x direction from the foot's center.

Definition at line 381 of file FootstepPlannerEnvironment.h.

const double footstep_planner::FootstepPlannerEnvironment::ivOriginFootShiftY [protected]

Shift in y direction from the foot's center.

Definition at line 383 of file FootstepPlannerEnvironment.h.

std::vector<const PlanningState*>* footstep_planner::FootstepPlannerEnvironment::ivpStateHash2State [protected]

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

Definition at line 367 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivRandomNodeDist [protected]

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

Definition at line 431 of file FootstepPlannerEnvironment.h.

exp_states_t footstep_planner::FootstepPlannerEnvironment::ivRandomStates [protected]

random intermediate states for R*

Definition at line 445 of file FootstepPlannerEnvironment.h.

std::vector<const PlanningState*> footstep_planner::FootstepPlannerEnvironment::ivStateId2State [protected]

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

Definition at line 360 of file FootstepPlannerEnvironment.h.

const int footstep_planner::FootstepPlannerEnvironment::ivStepCost [protected]

The costs for each step (discretized with the help of cvMmScale).

Definition at line 403 of file FootstepPlannerEnvironment.h.

bool* footstep_planner::FootstepPlannerEnvironment::ivStepRange [protected]

Definition at line 448 of file FootstepPlannerEnvironment.h.

The documentation for this class was generated from the following files:
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footstep_planner
Author(s): Johannes Garimort, Armin Hornung
autogenerated on Tue Mar 5 11:44:03 2013