GenericRRT< NODE, N > Class Template Reference

Generic RRT implementation that makes no assumptions about the nature of the state space; those details are handled by the NODE template argument, which must be a subclass of RRTNodeBase. More...

#include <GenericRRT.h>

Inheritance diagram for GenericRRT< NODE, N >:

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Detailed Description

template<typename NODE, size_t N>
class GenericRRT< NODE, N >

Generic RRT implementation that makes no assumptions about the nature of the state space; those details are handled by the NODE template argument, which must be a subclass of RRTNodeBase.

Definition at line 102 of file GenericRRT.h.

List of all members.

Public Types
typedef NODE::NodeValue_t	NodeValue_t
Public Member Functions
	GenericRRT (typename NODE::CollisionChecker collCheck, AdmissibilityPredicate< NODE > predicate=NULL)
	Constructor; will delete collCheck argument when destructed.
	GenericRRT (const GenericRRT &other)
	Copy constructor.
virtual	~GenericRRT ()
	Destructor: deletes the collision checker.
void	setLimits (const NodeValue_t &_lowerLimits, const NodeValue_t &_upperLimits)
	Set lower and upper value limits for each dimension of the space.
virtual void	setInterpolation (const NodeValue_t &_interpolationStep)
	Set interpolation step size for each dimension of the space for both extending and smoothing.
virtual void	setExtendingInterpolation (const NodeValue_t &_extendingInterpolationStep)
	Set interpolation step size for each dimension of the space for extending.
virtual void	setSmoothingInterpolation (const NodeValue_t &_smoothingInterpolationStep)
	Set interpolation step size for each dimension of the space for smoothing.
virtual PlannerResult< N >	planPath (const NodeValue_t &start, const NodeValue_t &end, unsigned int maxIterations, std::vector< NodeValue_t > pathResult=NULL, std::vector< NODE > treeStartResult=NULL, std::vector< NODE > *treeEndResult=NULL)
	Plan a path from start to end.
NODE::CollisionChecker *	getCC ()
virtual void	dumpTree (const std::vector< NODE > &tree, const std::string &header="")
void	addObstaclesToShapeSpace (ShapeSpace &space, const fmat::Transform &t=fmat::Transform()) const
Protected Member Functions
virtual void	initialize (const NodeValue_t &start, std::vector< NODE > &treeStartResult, const NodeValue_t &end, std::vector< NODE > &treeEndResult)
	Set up initial search trees.
virtual void	buildPath (const std::vector< NODE > treeStart, const std::vector< NODE > treeEnd, std::vector< NodeValue_t > &path)
void	addNode (std::vector< NODE > *tree, const NodeValue_t &q, unsigned int parent)
Protected Attributes
NodeValue_t	lowerLimits
	lower limits on state q
NodeValue_t	upperLimits
	upper limits on state q
NodeValue_t	extendingInterpolationStep
	interpolation steps for q while extending
NodeValue_t	smoothingInterpolationStep
	interpolation steps for q while smoothing
NODE::CollisionChecker *	cc
	collision checker
AdmissibilityPredicate< NODE > *	predicate
	admissibility predicate
Private Member Functions
unsigned int	nearestNode (std::vector< NODE > *tree, const NodeValue_t &target)
RRTNodeBase::Interp_t	extend (std::vector< NODE > *tree, const NodeValue_t &q, bool truncate, bool searchingBackwards)
GenericRRT &	operator= (const GenericRRT &)
	Don't call this.

Member Typedef Documentation

template<typename NODE, size_t N>

typedef NODE::NodeValue_t GenericRRT< NODE, N >::NodeValue_t

Reimplemented in ShapeSpacePlanner2DR< N >, ShapeSpacePlanner3DR< N >, ShapeSpacePlannerXY, and ShapeSpacePlannerXYTheta.

Definition at line 104 of file GenericRRT.h.

Constructor & Destructor Documentation

template<typename NODE, size_t N>

GenericRRT< NODE, N >::GenericRRT	(	typename NODE::CollisionChecker *	collCheck,
		AdmissibilityPredicate< NODE > *	predicate = `NULL`
	)

Constructor; will delete collCheck argument when destructed.

Definition at line 190 of file GenericRRT.h.

template<typename NODE, size_t N>

GenericRRT< NODE, N >::GenericRRT ( const GenericRRT< NODE, N > & other )

Copy constructor.

Definition at line 124 of file GenericRRT.h.

template<typename NODE, size_t N>

virtual GenericRRT< NODE, N >::~GenericRRT ( ) [virtual]

Destructor: deletes the collision checker.

Definition at line 133 of file GenericRRT.h.

Member Function Documentation

template<typename NODE, size_t N>

void GenericRRT< NODE, N >::addNode	(	std::vector< NODE > *	tree,
		const NodeValue_t &	q,
		unsigned int	parent
	)			`[protected]`

Definition at line 311 of file GenericRRT.h.

Referenced by GenericRRT< NODE, N >::extend(), and GenericRRT< NODE, N >::initialize().

template<typename NODE , size_t N>

void GenericRRT< NODE, N >::addObstaclesToShapeSpace	(	ShapeSpace &	space,
		const fmat::Transform &	t = `fmat::Transform()`
	)			const

Definition at line 375 of file GenericRRT.h.

Referenced by Grasper::PlanArmApproach::doStart(), and Grasper::planBodyPath().

template<typename NODE, size_t N>

void GenericRRT< NODE, N >::buildPath	(	const std::vector< NODE > *	treeStart,
		const std::vector< NODE > *	treeEnd,
		std::vector< NodeValue_t > &	path
	)			`[protected, virtual]`

Reimplemented in ShapeSpacePlannerXYTheta.

Definition at line 317 of file GenericRRT.h.

Referenced by GenericRRT< NODE, N >::planPath().

template<typename NODE, size_t N>

void GenericRRT< NODE, N >::dumpTree	(	const std::vector< NODE > &	tree,
		const std::string &	header = `""`
	)			`[virtual]`

Definition at line 366 of file GenericRRT.h.

template<typename NODE, size_t N>

RRTNodeBase::Interp_t GenericRRT< NODE, N >::extend	(	std::vector< NODE > *	tree,
		const NodeValue_t &	q,
		bool	truncate,
		bool	searchingBackwards
	)			`[private]`

Definition at line 293 of file GenericRRT.h.

Referenced by GenericRRT< NODE, N >::planPath().

template<typename NODE, size_t N>

NODE::CollisionChecker* GenericRRT< NODE, N >::getCC ( )

Definition at line 165 of file GenericRRT.h.

template<typename NODE, size_t N>

void GenericRRT< NODE, N >::initialize	(	const NodeValue_t &	start,
		std::vector< NODE > &	treeStartResult,
		const NodeValue_t &	end,
		std::vector< NODE > &	treeEndResult
	)			`[protected, virtual]`

Set up initial search trees.

Reimplemented in ShapeSpacePlannerXYTheta.

Definition at line 195 of file GenericRRT.h.

Referenced by GenericRRT< NODE, N >::planPath().

template<typename NODE, size_t N>

unsigned int GenericRRT< NODE, N >::nearestNode	(	std::vector< NODE > *	tree,
		const NodeValue_t &	target
	)			`[private]`

Definition at line 274 of file GenericRRT.h.

Referenced by GenericRRT< NODE, N >::extend(), and GenericRRT< NODE, N >::planPath().

template<typename NODE, size_t N>

GenericRRT& GenericRRT< NODE, N >::operator= ( const GenericRRT< NODE, N > & ) [private]

Don't call this.

template<typename NODE, size_t N>

GenericRRTBase::PlannerResult< N > GenericRRT< NODE, N >::planPath	(	const NodeValue_t &	start,
		const NodeValue_t &	end,
		unsigned int	maxIterations,
		std::vector< NodeValue_t > *	pathResult = `NULL`,
		std::vector< NODE > *	treeStartResult = `NULL`,
		std::vector< NODE > *	treeEndResult = `NULL`
	)			`[virtual]`