ShapeSpacePlannerXYTheta Class Reference

Plans a path in a 2D linear space with smooth angle changes, uses a rectangular bounding box for collision testing. More...

#include <ShapeSpacePlannerXYTheta.h>

Inheritance diagram for ShapeSpacePlannerXYTheta:

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Detailed Description

Plans a path in a 2D linear space with smooth angle changes, uses a rectangular bounding box for collision testing.

Definition at line 49 of file ShapeSpacePlannerXYTheta.h.

List of all members.

Public Types
typedef RRTNodeXYTheta	NodeType_t
typedef NodeType_t::NodeValue_t	NodeValue_t
typedef GenericRRTBase::PlannerResult< 2 >	PlannerResult
Public Member Functions
	ShapeSpacePlannerXYTheta (DualCoding::ShapeSpace &shs, const DualCoding::Shape< DualCoding::PolygonData > &worldBounds=Shape< PolygonData >(), float inflation=0)
virtual	~ShapeSpacePlannerXYTheta ()
virtual void	initialize (const NodeValue_t &start, std::vector< NodeType_t > &treeStartResult, const NodeValue_t &end, std::vector< NodeType_t > &treeEndResult)
virtual void	buildPath (const std::vector< NodeType_t > *treeStart, const std::vector< NodeType_t > *treeEnd, std::vector< NodeValue_t > &path)
PlannerResult	planPath (const Point &start, const Point &end, const AngTwoPi &initialHeading, const AngTwoPi &targetHeading, 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	targetHeading

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Member Typedef Documentation

typedef RRTNodeXYTheta ShapeSpacePlannerXYTheta::NodeType_t

Definition at line 51 of file ShapeSpacePlannerXYTheta.h.

typedef NodeType_t::NodeValue_t ShapeSpacePlannerXYTheta::NodeValue_t

Reimplemented from GenericRRT< RRTNodeXYTheta, 2 >.

Definition at line 52 of file ShapeSpacePlannerXYTheta.h.

typedef GenericRRTBase::PlannerResult<2> ShapeSpacePlannerXYTheta::PlannerResult

Definition at line 53 of file ShapeSpacePlannerXYTheta.h.

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Constructor & Destructor Documentation

ShapeSpacePlannerXYTheta::ShapeSpacePlannerXYTheta	(	DualCoding::ShapeSpace &	shs,
		const DualCoding::Shape< DualCoding::PolygonData > &	worldBounds = Shape< PolygonData >(),
		float	inflation = 0
	)

virtual ShapeSpacePlannerXYTheta::~ShapeSpacePlannerXYTheta

(

)

[virtual]

Definition at line 59 of file ShapeSpacePlannerXYTheta.h.

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Member Function Documentation

void ShapeSpacePlannerXYTheta::buildPath	(	const std::vector< NodeType_t > *	treeStart,
		const std::vector< NodeType_t > *	treeEnd,
		std::vector< NodeValue_t > &	path
	)			[virtual]

Definition at line 177 of file ShapeSpacePlannerXYTheta.cc.

void ShapeSpacePlannerXYTheta::initialize	(	const NodeValue_t &	start,
		std::vector< NodeType_t > &	treeStartResult,
		const NodeValue_t &	end,
		std::vector< NodeType_t > &	treeEndResult
	)			[virtual]

Definition at line 163 of file ShapeSpacePlannerXYTheta.cc.

ShapeSpacePlannerXYTheta::PlannerResult ShapeSpacePlannerXYTheta::planPath	(	const Point &	start,
		const Point &	end,
		const AngTwoPi &	initialHeading,
		const AngTwoPi &	targetHeading,
		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 230 of file ShapeSpacePlannerXYTheta.cc.

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

Definition at line 272 of file ShapeSpacePlannerXYTheta.cc.

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

Definition at line 279 of file ShapeSpacePlannerXYTheta.cc.

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Member Data Documentation

float ShapeSpacePlannerXYTheta::targetHeading

Definition at line 61 of file ShapeSpacePlannerXYTheta.h.

Referenced by initialize(), and planPath().

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

• ShapeSpacePlannerXYTheta.h
• ShapeSpacePlannerXYTheta.cc