RRTNodeXYTheta Class Reference
#include <ShapeSpacePlannerXYTheta.h>
Detailed Description
Definition at line 13 of file ShapeSpacePlannerXYTheta.h.
Classes | |
| class | CollisionChecker |
Public Types | |
| typedef std::pair< std::pair < float, float >, AngTwoPi > | NodeValue_t |
| typedef GenericRRTBase::PlannerResult< 2 > | PlannerResult |
Public Member Functions | |
| RRTNodeXYTheta (const NodeValue_t &_q, unsigned int _parent) | |
| Constructor. | |
| virtual float | distance (const NodeValue_t &target) |
| virtual std::string | toString () const |
Static Public Member Functions | |
| static void | generateSample (const NodeValue_t &lower, const NodeValue_t &upper, NodeValue_t &sample) |
| static Interp_t | interpolate (const NodeValue_t &start, const NodeValue_t &target, const NodeValue_t &interp, bool truncate, CollisionChecker *cc, NodeValue_t &reached, bool fromOtherTree) |
| static Interp_t | smoothInterpolate (const NodeValue_t &start, const NodeValue_t &target, const NodeValue_t &interp, CollisionChecker *cc) |
| static bool | goodAngle (const NodeValue_t &q1, const NodeValue_t &qnew) |
Public Attributes | |
| NodeValue_t | q |
Static Public Attributes | |
| static const unsigned int | maxInterpolations = 10 |
| Maximum number of interpolation steps in interpolate() when truncate is true. | |
| static const AngSignPi | turnLimit = M_PI |
| Maximum allowable angular difference between adjacent nodes. | |
Member Typedef Documentation
| typedef std::pair<std::pair<float,float>,AngTwoPi> RRTNodeXYTheta::NodeValue_t |
Definition at line 16 of file ShapeSpacePlannerXYTheta.h.
Definition at line 17 of file ShapeSpacePlannerXYTheta.h.
Constructor & Destructor Documentation
| RRTNodeXYTheta::RRTNodeXYTheta | ( | const NodeValue_t & | _q, | |
| unsigned int | _parent | |||
| ) |
Constructor.
Definition at line 21 of file ShapeSpacePlannerXYTheta.h.
Member Function Documentation
| float RRTNodeXYTheta::distance | ( | const NodeValue_t & | target | ) | [virtual] |
Definition at line 10 of file ShapeSpacePlannerXYTheta.cc.
| void RRTNodeXYTheta::generateSample | ( | const NodeValue_t & | lower, | |
| const NodeValue_t & | upper, | |||
| NodeValue_t & | sample | |||
| ) | [static] |
Definition at line 15 of file ShapeSpacePlannerXYTheta.cc.
| bool RRTNodeXYTheta::goodAngle | ( | const NodeValue_t & | q1, | |
| const NodeValue_t & | qnew | |||
| ) | [static] |
Definition at line 103 of file ShapeSpacePlannerXYTheta.cc.
Referenced by interpolate().
| RRTNodeBase::Interp_t RRTNodeXYTheta::interpolate | ( | const NodeValue_t & | start, | |
| const NodeValue_t & | target, | |||
| const NodeValue_t & | interp, | |||
| bool | truncate, | |||
| CollisionChecker * | cc, | |||
| NodeValue_t & | reached, | |||
| bool | fromOtherTree | |||
| ) | [static] |
Definition at line 23 of file ShapeSpacePlannerXYTheta.cc.
| RRTNodeBase::Interp_t RRTNodeXYTheta::smoothInterpolate | ( | const NodeValue_t & | start, | |
| const NodeValue_t & | target, | |||
| const NodeValue_t & | interp, | |||
| CollisionChecker * | cc | |||
| ) | [static] |
Definition at line 77 of file ShapeSpacePlannerXYTheta.cc.
Referenced by ShapeSpacePlannerXYTheta::buildPath().
| std::string RRTNodeXYTheta::toString | ( | ) | const [virtual] |
Implements RRTNodeBase.
Definition at line 109 of file ShapeSpacePlannerXYTheta.cc.
Member Data Documentation
const unsigned int RRTNodeXYTheta::maxInterpolations = 10 [static] |
Maximum number of interpolation steps in interpolate() when truncate is true.
Definition at line 33 of file ShapeSpacePlannerXYTheta.h.
Definition at line 18 of file ShapeSpacePlannerXYTheta.h.
Referenced by distance(), and toString().
const AngSignPi RRTNodeXYTheta::turnLimit = M_PI [static] |
Maximum allowable angular difference between adjacent nodes.
Definition at line 34 of file ShapeSpacePlannerXYTheta.h.
Referenced by goodAngle(), interpolate(), and smoothInterpolate().
The documentation for this class was generated from the following files:
