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ShapeSpacePlannerXY Class Reference

Plans a path in a 2D linear space, assuming the robot has circular shape. More...

#include <ShapeSpacePlannerXY.h>

Inheritance diagram for ShapeSpacePlannerXY:

Detailed Description

Plans a path in a 2D linear space, assuming the robot has circular shape.

Definition at line 51 of file ShapeSpacePlannerXY.h.

List of all members.

Public Types

typedef RRTNodeXY NodeType_t
typedef NodeType_t::NodeValue_t NodeValue_t
typedef
GenericRRTBase::PlannerResult< 2 > 
PlannerResult

Public Member Functions

 ShapeSpacePlannerXY (DualCoding::ShapeSpace &shs, const DualCoding::Shape< DualCoding::PolygonData > &worldBounds=Shape< PolygonData >(), float inflation=0, float _robotRadius=6 *25.4f)
virtual ~ShapeSpacePlannerXY ()
PlannerResult planPath (const Point &start, const Point &end, unsigned int _maxIterations=4000, std::vector< NodeValue_t > *pathResult=NULL, std::vector< NodeType_t > *treeStartResult=NULL, std::vector< NodeType_t > *treeEndResult=NULL)

Static Public Member Functions

static void plotPath (const std::vector< NodeValue_t > &path, Shape< GraphicsData > &graphics, rgb color=rgb(0, 0, 255))
static void plotTree (const std::vector< NodeType_t > &tree, Shape< GraphicsData > &graphics, rgb color=rgb(0, 0, 255))

Public Attributes

float robotRadius
 radius in mm of the CircularObstacle describing the robot

Member Typedef Documentation


Constructor & Destructor Documentation

ShapeSpacePlannerXY::ShapeSpacePlannerXY ( DualCoding::ShapeSpace &  shs,
const DualCoding::Shape< DualCoding::PolygonData > &  worldBounds = Shape< PolygonData >(),
float  inflation = 0,
float  _robotRadius = 6 *25.4f 
)
virtual ShapeSpacePlannerXY::~ShapeSpacePlannerXY (  )  [virtual]

Definition at line 61 of file ShapeSpacePlannerXY.h.


Member Function Documentation

ShapeSpacePlannerXY::PlannerResult ShapeSpacePlannerXY::planPath ( const Point &  start,
const Point &  end,
unsigned int  _maxIterations = 4000,
std::vector< NodeValue_t > *  pathResult = NULL,
std::vector< NodeType_t > *  treeStartResult = NULL,
std::vector< NodeType_t > *  treeEndResult = NULL 
)

Definition at line 99 of file ShapeSpacePlannerXY.cc.

void ShapeSpacePlannerXY::plotPath ( const std::vector< NodeValue_t > &  path,
Shape< GraphicsData > &  graphics,
rgb  color = rgb(0,0,255) 
) [static]

Definition at line 129 of file ShapeSpacePlannerXY.cc.

void ShapeSpacePlannerXY::plotTree ( const std::vector< NodeType_t > &  tree,
Shape< GraphicsData > &  graphics,
rgb  color = rgb(0,0,255) 
) [static]

Definition at line 136 of file ShapeSpacePlannerXY.cc.


Member Data Documentation

radius in mm of the CircularObstacle describing the robot

Definition at line 72 of file ShapeSpacePlannerXY.h.

Referenced by planPath().


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

Tekkotsu v5.1CVS
Generated Mon May 9 04:59:16 2016 by Doxygen 1.6.3