rtree_graph_planner.hpp File Reference

#include <vector>
#include <boost/random/mersenne_twister.hpp>
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/breadth_first_search.hpp>
#include <boost/graph/dijkstra_shortest_paths.hpp>
#include <boost/pending/indirect_cmp.hpp>
#include <boost/range/irange.hpp>
#include <boost/range/numeric.hpp>
#include <boost/range/algorithm/transform.hpp>
#include <boost/range/algorithm/fill.hpp>
#include <boost/geometry.hpp>
#include <boost/geometry/algorithms/distance.hpp>
#include <boost/geometry/geometries/register/point.hpp>
#include <boost/geometry/geometries/point.hpp>
#include <boost/geometry/geometries/box.hpp>
#include <boost/geometry/geometries/polygon.hpp>
#include <boost/geometry/algorithms/correct.hpp>
#include <boost/geometry/geometries/adapted/boost_array.hpp>
#include <boost/geometry/geometries/register/linestring.hpp>
#include <boost/geometry/index/rtree.hpp>
#include <boost/math/special_functions/fpclassify.hpp>
#include <boost/math/constants/constants.hpp>
#include <boost/math/special_functions/sign.hpp>

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Classes
struct	plan::bg_edge_property< Line >
struct	plan::bg_vertex_property< Point >
struct	square< T >

Namespaces
	boost
	boost::geometry
	plan

Typedefs
typedef boost::array< double, 6 >	plan::ArmPos
typedef bg::model::box< point_type >	plan::box
typedef bg_edge_property< edge_type >	plan::edge_property_type
typedef line_type	plan::edge_type
typedef boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, bg_vertex_property< point_type >, bg_edge_property< line_type > >	plan::graph_type
typedef boost::geometry::index::rtree< rtree_value, bgi::rstar< 16, 4 > >	plan::knn_rtree_type
typedef bg::model::segment< point_type >	plan::line_type
typedef ArmPos	plan::point_type
typedef std::pair< point_type, vertex_descriptor_type >	plan::rtree_value
typedef boost::graph_traits< graph_type >::vertex_descriptor	plan::vertex_descriptor_type
typedef bg_vertex_property< point_type >	plan::vertex_property_type

Functions
template<typename Graph , typename Route >
void	add_edge_to_route (Graph const &graph, typename boost::graph_traits< Graph >::vertex_descriptor vertex1, typename boost::graph_traits< Graph >::vertex_descriptor vertex2, Route &route)
template<typename Graph , typename Route >
void	build_route (Graph const &graph, std::vector< typename boost::graph_traits< Graph >::vertex_descriptor > const &predecessors, typename boost::graph_traits< Graph >::vertex_descriptor vertex1, typename boost::graph_traits< Graph >::vertex_descriptor vertex2, Route &route)
double	boost::geometry::comparable_distance (plan::ArmPos const &p1, plan::ArmPos const &p2)
template<typename Box >
double	boost::geometry::comparable_distance (plan::ArmPos const &armpos, Box const &box)
	distance between a a point and an axis aligned "box" on the surface of an n-torus More...
template<typename T >
T	normalizeRadiansPiToMinusPi (T rad)

Function Documentation

add_edge_to_route()

template<typename Graph , typename Route >

void add_edge_to_route ( Graph const &  graph, typename boost::graph_traits< Graph >::vertex_descriptor  vertex1, typename boost::graph_traits< Graph >::vertex_descriptor  vertex2, Route &  route  )

inline

source boost geometry graph example: https://github.com/boostorg/geometry/blob/bd9455207bb0012237c1853c3281ea95f146f91c/example/07_b_graph_route_example.cpp

Definition at line 228 of file rtree_graph_planner.hpp.

build_route()

template<typename Graph , typename Route >

void build_route ( Graph const &  graph, std::vector< typename boost::graph_traits< Graph >::vertex_descriptor > const &  predecessors, typename boost::graph_traits< Graph >::vertex_descriptor  vertex1, typename boost::graph_traits< Graph >::vertex_descriptor  vertex2, Route &  route  )

inline

After running dijkstra's algorithm build list of shortest path steps between start and end position.

Note

there will be duplicate positions that should be removed. source boost geometry graph example: https://github.com/boostorg/geometry/blob/bd9455207bb0012237c1853c3281ea95f146f91c/example/07_b_graph_route_example.cpp

Definition at line 265 of file rtree_graph_planner.hpp.

normalizeRadiansPiToMinusPi()

template<typename T >

T normalizeRadiansPiToMinusPi ( T  rad )

inline

Definition at line 162 of file rtree_graph_planner.hpp.