#include <rtree_planner_context.h>

Inheritance diagram for RTreeContext:

Collaboration diagram for RTreeContext:

Public Types
typedef std::pair< index, index >	edge

typedef std::size_t	index

typedef std::vector< index >	path

typedef boost::array< double, 6 >	vertex

Public Member Functions
virtual void	clear ()

bool	edge_collides (const vertex &qA, const vertex &qB, double step=0.01) const

std::vector< edge >	make_edges (const std::vector< vertex > &V) const

std::vector< vertex >	make_vertices (int N) const

template<typename Container >
void	make_vertices (Container &nRandomPos, std::size_t N)

	RTreeContext (const robot_model::RobotModelConstPtr &model, const std::string &name, const std::string &group, const ros::NodeHandle &nh=ros::NodeHandle("~"))

index	search_accessibility (const std::vector< vertex > &V, const vertex &q) const

index	search_departability (const std::vector< vertex > &V, const vertex &q) const

path	search_path (const std::vector< vertex > &V, const std::vector< edge > &E, index access_idx, index depart_idx) const

virtual bool	solve (planning_interface::MotionPlanResponse &res)

virtual bool	solve (planning_interface::MotionPlanDetailedResponse &res)

bool	state_collides (const vertex &q) const

virtual bool	terminate ()

virtual	~RTreeContext ()

Protected Attributes
robot_model::RobotModelConstPtr	robotmodel

Detailed Description

Definition at line 58 of file rtree_planner_context.h.

Member Typedef Documentation

§ edge

typedef std::pair<index,index> RTreeContext::edge

Definition at line 64 of file rtree_planner_context.h.

§ index

typedef std::size_t RTreeContext::index

Definition at line 63 of file rtree_planner_context.h.

§ path

typedef std::vector<index> RTreeContext::path

Definition at line 65 of file rtree_planner_context.h.

§ vertex

typedef boost::array<double,6> RTreeContext::vertex

Definition at line 62 of file rtree_planner_context.h.

Constructor & Destructor Documentation

§ RTreeContext()

RTreeContext::RTreeContext	(	const robot_model::RobotModelConstPtr &	model,
		const std::string &	name,
		const std::string &	group,
		const ros::NodeHandle &	nh = `ros::NodeHandle("~")`
	)

Definition at line 73 of file rtree_planner_context.cpp.

§ ~RTreeContext()

RTreeContext::~RTreeContext ( )

virtual

Definition at line 80 of file rtree_planner_context.cpp.

Member Function Documentation

§ clear()

void RTreeContext::clear ( )

virtual

Definition at line 417 of file rtree_planner_context.cpp.

§ edge_collides()

bool RTreeContext::edge_collides	(	const vertex &	qA,
		const vertex &	qB,
		double	step = `0.01`
	)		const

Feel free to change this method if you can do better.

Test if a linear trajectory between two states collides with the environment. Call this method if you need to find if the robot collides with the environment if it moves linearly between two states.

Parameters

[in]	qA	The start robot state
[in]	qB	The final robot state
	step	The joint step used in between configurations

Returns: true if the robot trajectory collides. false otherwise

Definition at line 95 of file rtree_planner_context.cpp.

§ make_edges()

std::vector< RTreeContext::edge > RTreeContext::make_edges ( const std::vector< vertex > & V ) const

TODO

Create a vector of edges. Each vertex represent a pair of vertex indices. For example, the pair (1,10) connects the vertices V[1] to V[10]. There is no restriction on how many edges your graph requires.

Parameters

[in] V A vector of N collision-free configurations

Returns: A vector of collision-free edges

Definition at line 125 of file rtree_planner_context.cpp.

§ make_vertices() [1/2]

std::vector< RTreeContext::vertex > RTreeContext::make_vertices ( int N ) const

TODO

Create a vector of N vertices. Each vertex represent a collision-free configuration (i.e. 6 joints) of the robot.

Parameters

N	The number of vertices in the graph

Returns: A vector of N collision-free configurations

Definition at line 108 of file rtree_planner_context.cpp.

§ make_vertices() [2/2]

template<typename Container >

void RTreeContext::make_vertices	(	Container &	nRandomPos,
		std::size_t	N
	)

Definition at line 176 of file rtree_planner_context.cpp.

§ search_accessibility()

RTreeContext::index RTreeContext::search_accessibility	(	const std::vector< vertex > &	V,
		const vertex &	q
	)		const

TODO

Search for a vertex that is accessible from a start configuration with a collision-free trajectory. The method returns the index of the accessible vertex.

Parameters

[in]	V	A vector of N collision-free configurations
[in]	q	The start configuration

Returns: The index of the accessible vertex

Definition at line 138 of file rtree_planner_context.cpp.

§ search_departability()

RTreeContext::index RTreeContext::search_departability	(	const std::vector< vertex > &	V,
		const vertex &	q
	)		const

TODO

Search for a vertex that is "departable" to a final configuration with a collision-free trajectory. The method returns the index of the departable vertex.

Parameters

[in]	V	A vector of N collision-free configurations
[in]	q	The final configuration

Returns: The index of the departable vertex

Definition at line 149 of file rtree_planner_context.cpp.

§ search_path()

RTreeContext::path RTreeContext::search_path	(	const std::vector< vertex > &	V,
		const std::vector< edge > &	E,
		RTreeContext::index	idx_start,
		RTreeContext::index	idx_final
	)		const

TODO

Search the graph (V,E) for a path between two vertices. collision-free trajectory. The method returns the index of the departable vertex.

Parameters

[in]	V	A vector of N collision-free configurations
[in]	E	A vector of collision-free edges
[in]	access_idx	The index of the accessible vertex
[in]	depart_idx	The index of the departable vertex

Returns: A vector representing a sequence of vertices

Definition at line 161 of file rtree_planner_context.cpp.

§ solve() [1/2]

bool RTreeContext::solve ( planning_interface::MotionPlanResponse & res )

virtual

Definition at line 235 of file rtree_planner_context.cpp.

§ solve() [2/2]

bool RTreeContext::solve ( planning_interface::MotionPlanDetailedResponse & res )

virtual

Definition at line 414 of file rtree_planner_context.cpp.

§ state_collides()

bool RTreeContext::state_collides ( const vertex & q ) const

Feel free to change this method if you can do better.

Test if a state collides with the scene. Call this method if you need to find if the robot collides with the environment in the given robot's state.

Parameters

[in] q The robot state

Returns: true if the robot state collides. false otherwise

Definition at line 82 of file rtree_planner_context.cpp.

§ terminate()

bool RTreeContext::terminate ( )

virtual

Definition at line 419 of file rtree_planner_context.cpp.

Member Data Documentation

§ robotmodel

robot_model::RobotModelConstPtr RTreeContext::robotmodel

protected

Definition at line 173 of file rtree_planner_context.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

§ edge

§ index

§ path

§ vertex

Constructor & Destructor Documentation

§ RTreeContext()

§ ~RTreeContext()

Member Function Documentation

§ clear()

§ edge_collides()

§ make_edges()

§ make_vertices() [1/2]

§ make_vertices() [2/2]

§ search_accessibility()

§ search_departability()

§ search_path()

§ solve() [1/2]

§ solve() [2/2]

§ state_collides()

§ terminate()

Member Data Documentation

§ robotmodel