#include <NeighborhoodGraph.h>

Public Member Functions
void	buildAdjacencyMatrixUsingVoronoi ()
void	computeConnectedComponents ()
void	computeEndEffectorPose (const SurfacePatch p1, const SurfacePatch p2, const double dist_above_surface, tf::Pose &pose) const
void	computeEndEffectorPose (const SurfacePatch p1, const double dist_above_surface, std::vector< tf::Pose > &poses, bool single_pose=false) const
void	constructGraphMarker (const std::vector< pcl::PointXYZ > &surface_samples, const Eigen::MatrixXi &adjacency, const std::string frame_id, visualization_msgs::Marker &marker_list) const
void	constructGraphMarker (const std::vector< SurfacePatch > &surface, const Eigen::MatrixXi &adjacency, const std::string frame_id, visualization_msgs::Marker &marker_list) const
void	getGraph (std::vector< SurfacePatch > &patches, std::vector< pcl::PointXYZ > &surface_points, Eigen::MatrixXi &adjacency, std::vector< std::vector< tf::Pose > > &coll_free_poses, std::vector< std::vector< std::vector< std::vector< double > > > > &coll_free_ik)
void	getReachableVector (std::vector< bool > &reachable)
	NeighborhoodGraph (ros::NodeHandle &nh)
	NeighborhoodGraph (ros::NodeHandle &nh, bool coll_check)
	NeighborhoodGraph (ros::NodeHandle &nh, std::vector< SurfacePatch > patches, octomap::OctomapROS< octomap::OcTree > *octomap)
	NeighborhoodGraph (ros::NodeHandle &nh, std::vector< SurfacePatch > patches, octomap::OctomapROS< octomap::OcTree > *octomap, double dist_above_surface, int max_neigborhood, double max_neigborhood_radius, int n_ik_samples, bool coll_check)
void	sampleSurfacePoints (const std::vector< SurfacePatch > &surface, std::vector< pcl::PointXYZ > &samples) const
void	setOctomap (octomap::OctomapROS< octomap::OcTree > *octomap)
void	setPatches (std::vector< SurfacePatch > patches)
void	setSurfaceDist (double dist)
	~NeighborhoodGraph ()
Public Attributes
Eigen::MatrixXi	adjacency_
bool	coll_check_
CollisionCheck *	coll_checker_
double	dist_above_surface_
std::vector< SurfacePatch >	graph_
int	max_neigborhood_
double	max_neigborhood_radius_
int	n_ik_samples_
ros::NodeHandle	nh_
octomap::OctomapROS < octomap::OcTree > *	octomap_
std::vector< bool >	reachable_surface_
std::vector< std::set< int > >	subgraphs_
std::vector< SurfacePatch >	surface_
Private Member Functions
void	buildAdjacencyMatrixUsingOctomap ()
void	depthFirstConnectedComponentSearch (const int node, Eigen::MatrixXi &adjacency, std::set< int > &graph)
void	getIKSolutions (const tf::Pose p, std::vector< std::vector< double > > &ik_solutions) const
void	getSubgraphAdjacency (const std::set< int > &subgraph, std::map< int, int > &index_map, Eigen::MatrixXi &subgraph_adj, const std::vector< SurfacePatch > &patches, std::vector< SurfacePatch > &subgraph_patches)
void	getValidIKSolutions (const std::vector< tf::Pose > &poses, const bool check_collision, std::vector< bool > &valid, std::vector< std::vector< std::vector< double > > > &ik_solutions)
bool	isPoseValid (const tf::Pose pose, const bool check_collision, std::vector< std::vector< double > > &ik_solutions)
void	sampleSurfacePoints (const std::vector< SurfacePatch > &surface, pcl::PointCloud< pcl::PointXYZ > &samples) const

Detailed Description

Definition at line 14 of file NeighborhoodGraph.h.

Constructor & Destructor Documentation

NeighborhoodGraph::NeighborhoodGraph ( ros::NodeHandle & nh )

Author:: Juergen Hess

Definition at line 12 of file NeigborhoodGraph.cpp.

NeighborhoodGraph::NeighborhoodGraph	(	ros::NodeHandle &	nh,
		bool	coll_check
	)

Definition at line 19 of file NeigborhoodGraph.cpp.

NeighborhoodGraph::NeighborhoodGraph	(	ros::NodeHandle &	nh,
		std::vector< SurfacePatch >	patches,
		octomap::OctomapROS< octomap::OcTree > *	octomap
	)

Definition at line 27 of file NeigborhoodGraph.cpp.

NeighborhoodGraph::NeighborhoodGraph	(	ros::NodeHandle &	nh,
		std::vector< SurfacePatch >	patches,
		octomap::OctomapROS< octomap::OcTree > *	octomap,
		double	dist_above_surface,
		int	max_neigborhood,
		double	max_neigborhood_radius,
		int	n_ik_samples,
		bool	coll_check
	)

Definition at line 38 of file NeigborhoodGraph.cpp.

NeighborhoodGraph::~NeighborhoodGraph ( )

Definition at line 51 of file NeigborhoodGraph.cpp.

Member Function Documentation

void NeighborhoodGraph::buildAdjacencyMatrixUsingOctomap ( ) [private]

Definition at line 99 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::buildAdjacencyMatrixUsingVoronoi ( )

Definition at line 149 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::computeConnectedComponents ( )

Definition at line 281 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::computeEndEffectorPose	(	const SurfacePatch	p1,
		const SurfacePatch	p2,
		const double	dist_above_surface,
		tf::Pose &	pose
	)		const

Definition at line 496 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::computeEndEffectorPose	(	const SurfacePatch	p1,
		const double	dist_above_surface,
		std::vector< tf::Pose > &	poses,
		bool	single_pose = `false`
	)		const

Definition at line 438 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::constructGraphMarker	(	const std::vector< pcl::PointXYZ > &	surface_samples,
		const Eigen::MatrixXi &	adjacency,
		const std::string	frame_id,
		visualization_msgs::Marker &	marker_list
	)		const

Definition at line 698 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::constructGraphMarker	(	const std::vector< SurfacePatch > &	surface,
		const Eigen::MatrixXi &	adjacency,
		const std::string	frame_id,
		visualization_msgs::Marker &	marker_list
	)		const

Definition at line 748 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::depthFirstConnectedComponentSearch	(	const int	node,
		Eigen::MatrixXi &	adjacency,
		std::set< int > &	graph
	)		`[private]`

Definition at line 270 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::getGraph	(	std::vector< SurfacePatch > &	patches,
		std::vector< pcl::PointXYZ > &	surface_points,
		Eigen::MatrixXi &	adjacency,
		std::vector< std::vector< tf::Pose > > &	coll_free_poses,
		std::vector< std::vector< std::vector< std::vector< double > > > > &	coll_free_ik
	)

Definition at line 569 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::getIKSolutions	(	const tf::Pose	p,
		std::vector< std::vector< double > > &	ik_solutions
	)		const `[private]`

Definition at line 337 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::getReachableVector ( std::vector< bool > & reachable )

Definition at line 68 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::getSubgraphAdjacency	(	const std::set< int > &	subgraph,
		std::map< int, int > &	index_map,
		Eigen::MatrixXi &	subgraph_adj,
		const std::vector< SurfacePatch > &	patches,
		std::vector< SurfacePatch > &	subgraph_patches
	)		`[private]`

Definition at line 314 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::getValidIKSolutions	(	const std::vector< tf::Pose > &	poses,
		const bool	check_collision,
		std::vector< bool > &	valid,
		std::vector< std::vector< std::vector< double > > > &	ik_solutions
	)		`[private]`

Definition at line 255 of file NeigborhoodGraph.cpp.

bool NeighborhoodGraph::isPoseValid	(	const tf::Pose	pose,
		const bool	check_collision,
		std::vector< std::vector< double > > &	ik_solutions
	)		`[private]`

Definition at line 227 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::sampleSurfacePoints	(	const std::vector< SurfacePatch > &	surface,
		std::vector< pcl::PointXYZ > &	samples
	)		const

Definition at line 71 of file NeigborhoodGraph.cpp.

void NeighborhoodGraph::sampleSurfacePoints	(	const std::vector< SurfacePatch > &	surface,
		pcl::PointCloud< pcl::PointXYZ > &	samples
	)		const `[private]`