ShapeSpacePlannerXYTheta Class Reference

Plans a path in a 2D linear space with smooth angle changes (if turnLimit is small), using multiple bounding boxes 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 (if turnLimit is small), using multiple bounding boxes for collision testing.

Definition at line 55 of file ShapeSpacePlannerXYTheta.h.

List of all members.

Public Types
typedef RRTNodeXYTheta	NodeType_t
typedef NodeType_t::NodeValue_t	NodeValue_t
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)
GenericRRTBase::PlannerResult2D	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))
Private Attributes
float	targetHeading
	Set by planPath() and used by initialize().

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Member Typedef Documentation

typedef RRTNodeXYTheta ShapeSpacePlannerXYTheta::NodeType_t

Definition at line 57 of file ShapeSpacePlannerXYTheta.h.

typedef NodeType_t::NodeValue_t ShapeSpacePlannerXYTheta::NodeValue_t

Reimplemented from GenericRRT< RRTNodeXYTheta, 2 >.

Definition at line 58 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 64 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 173 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 159 of file ShapeSpacePlannerXYTheta.cc.

GenericRRTBase::PlannerResult2D 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 226 of file ShapeSpacePlannerXYTheta.cc.

Referenced by Grasper::planBodyPath().

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

Definition at line 266 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 273 of file ShapeSpacePlannerXYTheta.cc.

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Member Data Documentation

float ShapeSpacePlannerXYTheta::targetHeading [private]

Set by planPath() and used by initialize().

Definition at line 91 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