Public Types | Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes
planning_environment::CollisionOperationsGenerator Class Reference

#include <collision_operations_generator.h>

List of all members.

Public Types

typedef std::map< std::string,
double > 
CollidingJointValues
enum  DisableType {
  ADJACENT, ALWAYS, DEFAULT, OFTEN,
  OCCASIONALLY, NEVER
}
enum  SamplingSafety {
  VerySafe, Safe, Normal, Fast,
  VeryFast
}
typedef std::pair< std::string,
std::string > 
StringPair

Public Member Functions

 CollisionOperationsGenerator (CollisionModels *cm)
void disablePairCollisionChecking (const StringPair &pair)
void disablePairCollisionChecking (const std::vector< StringPair > &pair_vec)
void enableAllCollisions ()
void enablePairCollisionChecking (const StringPair &pair)
void generateAdjacentInCollisionPairs (std::vector< StringPair > &adjacent_in_collision_pairs)
void generateAlwaysInCollisionPairs (std::vector< StringPair > &always_in_collision_pairs, std::vector< CollidingJointValues > &in_collision_joint_values)
void generateDefaultInCollisionPairs (std::vector< StringPair > &default_in_collision_pairs, std::vector< CollidingJointValues > &in_collision_joint_values)
void generateOccasionallyAndNeverInCollisionPairs (std::vector< StringPair > &occasionally_in_collision_pairs, std::vector< StringPair > &never_in_collision_pairs, std::vector< double > &collision_percentage, std::vector< CollidingJointValues > &in_collision_joint_values)
void generateOftenInCollisionPairs (std::vector< StringPair > &often_in_collision_pairs, std::vector< double > &collision_percentage, std::vector< CollidingJointValues > &in_collision_joint_values)
void generateSamplingStructures (const std::map< std::string, bool > &add_map)
void outputYamlStringOfSavedResults (YAML::Emitter &outy, const std::map< DisableType, std::vector< StringPair > > &disable_types)
void performanceTestSavedResults (std::map< CollisionOperationsGenerator::DisableType, std::vector< CollisionOperationsGenerator::StringPair > > &disable_types)
void setSafety (SamplingSafety safety)

Public Attributes

unsigned int establish_always_num_
unsigned int establish_occasional_num_
unsigned int establish_often_num_
double establish_often_percentage_
unsigned int performance_testing_num_

Protected Member Functions

void accumulateAdjacentLinksRecursive (const planning_models::KinematicModel::LinkModel *parent, std::vector< StringPair > &adjacencies)
void buildOutputStructures (unsigned int num, double low_value, double high_value, std::vector< StringPair > &meets_threshold_collision, std::vector< double > &collision_percentages, std::vector< CollidingJointValues > &joint_values, std::map< std::string, std::map< std::string, double > > &percentage_num)
void generateRandomState (planning_models::KinematicState &state)
void resetCountingMap ()
void sampleAndCountCollisions (unsigned int num)

Protected Attributes

planning_environment::CollisionModelscm_
std::map< std::string,
std::map< std::string,
unsigned int > > 
collision_count_map_
std::map< std::string,
std::map< std::string,
CollidingJointValues > > 
collision_joint_values_
std::map< std::string,
std::pair< double, double > > 
joint_bounds_map_

Detailed Description

Definition at line 51 of file collision_operations_generator.h.


Member Typedef Documentation

Definition at line 76 of file collision_operations_generator.h.

typedef std::pair<std::string, std::string> planning_environment::CollisionOperationsGenerator::StringPair

Definition at line 75 of file collision_operations_generator.h.


Member Enumeration Documentation

Enumerator:
ADJACENT 
ALWAYS 
DEFAULT 
OFTEN 
OCCASIONALLY 
NEVER 

Definition at line 55 of file collision_operations_generator.h.

Enumerator:
VerySafe 
Safe 
Normal 
Fast 
VeryFast 

Definition at line 64 of file collision_operations_generator.h.


Constructor & Destructor Documentation

Definition at line 52 of file collision_operations_generator.cpp.


Member Function Documentation

void CollisionOperationsGenerator::accumulateAdjacentLinksRecursive ( const planning_models::KinematicModel::LinkModel parent,
std::vector< StringPair > &  adjacencies 
) [protected]

Definition at line 69 of file collision_operations_generator.cpp.

void planning_environment::CollisionOperationsGenerator::buildOutputStructures ( unsigned int  num,
double  low_value,
double  high_value,
std::vector< StringPair > &  meets_threshold_collision,
std::vector< double > &  collision_percentages,
std::vector< CollidingJointValues > &  joint_values,
std::map< std::string, std::map< std::string, double > > &  percentage_num 
) [protected]

Definition at line 238 of file collision_operations_generator.cpp.

Definition at line 225 of file collision_operations_generator.cpp.

Definition at line 232 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateAdjacentInCollisionPairs ( std::vector< StringPair > &  adjacent_in_collision_pairs)

Definition at line 61 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateAlwaysInCollisionPairs ( std::vector< StringPair > &  always_in_collision_pairs,
std::vector< CollidingJointValues > &  in_collision_joint_values 
)

Definition at line 85 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateDefaultInCollisionPairs ( std::vector< StringPair > &  default_in_collision_pairs,
std::vector< CollidingJointValues > &  in_collision_joint_values 
)

Definition at line 97 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateOccasionallyAndNeverInCollisionPairs ( std::vector< StringPair > &  occasionally_in_collision_pairs,
std::vector< StringPair > &  never_in_collision_pairs,
std::vector< double > &  collision_percentage,
std::vector< CollidingJointValues > &  in_collision_joint_values 
)

Definition at line 130 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateOftenInCollisionPairs ( std::vector< StringPair > &  often_in_collision_pairs,
std::vector< double > &  collision_percentage,
std::vector< CollidingJointValues > &  in_collision_joint_values 
)

Definition at line 119 of file collision_operations_generator.cpp.

Definition at line 453 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::generateSamplingStructures ( const std::map< std::string, bool > &  add_map)

Definition at line 252 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::outputYamlStringOfSavedResults ( YAML::Emitter &  outy,
const std::map< DisableType, std::vector< StringPair > > &  disable_types 
)

Definition at line 398 of file collision_operations_generator.cpp.

Definition at line 367 of file collision_operations_generator.cpp.

Definition at line 438 of file collision_operations_generator.cpp.

void CollisionOperationsGenerator::sampleAndCountCollisions ( unsigned int  num) [protected]

Definition at line 284 of file collision_operations_generator.cpp.

Definition at line 107 of file collision_operations_generator.h.


Member Data Documentation

Definition at line 180 of file collision_operations_generator.h.

std::map<std::string, std::map<std::string, unsigned int> > planning_environment::CollisionOperationsGenerator::collision_count_map_ [protected]

Definition at line 177 of file collision_operations_generator.h.

Definition at line 178 of file collision_operations_generator.h.

Definition at line 153 of file collision_operations_generator.h.

Definition at line 156 of file collision_operations_generator.h.

Definition at line 154 of file collision_operations_generator.h.

Definition at line 155 of file collision_operations_generator.h.

std::map<std::string, std::pair<double, double> > planning_environment::CollisionOperationsGenerator::joint_bounds_map_ [protected]

Definition at line 176 of file collision_operations_generator.h.

Definition at line 157 of file collision_operations_generator.h.


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


planning_environment
Author(s): Ioan Sucan
autogenerated on Mon Dec 2 2013 12:34:43