RRTNodeXYTheta Class Reference
#include <ShapeSpacePlannerXYTheta.h>
Detailed Description
Definition at line 13 of file ShapeSpacePlannerXYTheta.h.
Classes | |
| class | CollisionChecker |
| struct | NodeValue_t |
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 &interpStep, bool truncate, CollisionChecker *cc, NodeValue_t &reached, bool searchingBackwards) |
| static bool | safeTurn (const NodeValue_t &start, const AngSignPi headingChange, AngSignTwoPi &turn, CollisionChecker *cc) |
| static Interp_t | snipInterpolate (const NodeValue_t &start, const NodeValue_t &target, const AngTwoPi nextTheta, const NodeValue_t &interpStep, CollisionChecker *cc, NodeValue_t &reached, AngSignTwoPi &nextTurn) |
| Interpolation function for potential short-circuiting of segments of a path. | |
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/12 |
| Maximum theta difference between adjacent nodes without interpolated collision checking. | |
Constructor & Destructor Documentation
| RRTNodeXYTheta::RRTNodeXYTheta | ( | const NodeValue_t & | _q, | |
| unsigned int | _parent | |||
| ) |
Constructor.
Definition at line 29 of file ShapeSpacePlannerXYTheta.h.
Member Function Documentation
| float RRTNodeXYTheta::distance | ( | const NodeValue_t & | target | ) | [virtual] |
Definition at line 15 of file ShapeSpacePlannerXYTheta.cc.
| void RRTNodeXYTheta::generateSample | ( | const NodeValue_t & | lower, | |
| const NodeValue_t & | upper, | |||
| NodeValue_t & | sample | |||
| ) | [static] |
Definition at line 20 of file ShapeSpacePlannerXYTheta.cc.
| RRTNodeBase::Interp_t RRTNodeXYTheta::interpolate | ( | const NodeValue_t & | start, | |
| const NodeValue_t & | target, | |||
| const NodeValue_t & | interpStep, | |||
| bool | truncate, | |||
| CollisionChecker * | cc, | |||
| NodeValue_t & | reached, | |||
| bool | searchingBackwards | |||
| ) | [static] |
Definition at line 29 of file ShapeSpacePlannerXYTheta.cc.
| bool RRTNodeXYTheta::safeTurn | ( | const NodeValue_t & | start, | |
| const AngSignPi | headingChange, | |||
| AngSignTwoPi & | turn, | |||
| CollisionChecker * | cc | |||
| ) | [static] |
Definition at line 83 of file ShapeSpacePlannerXYTheta.cc.
Referenced by interpolate(), and snipInterpolate().
| RRTNodeBase::Interp_t RRTNodeXYTheta::snipInterpolate | ( | const NodeValue_t & | start, | |
| const NodeValue_t & | target, | |||
| const AngTwoPi | nextTheta, | |||
| const NodeValue_t & | interpStep, | |||
| CollisionChecker * | cc, | |||
| NodeValue_t & | reached, | |||
| AngSignTwoPi & | nextTurn | |||
| ) | [static] |
Interpolation function for potential short-circuiting of segments of a path.
Definition at line 116 of file ShapeSpacePlannerXYTheta.cc.
Referenced by ShapeSpacePlannerXYTheta::buildPath().
| std::string RRTNodeXYTheta::toString | ( | ) | const [virtual] |
Implements RRTNodeBase.
Definition at line 151 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 52 of file ShapeSpacePlannerXYTheta.h.
Referenced by interpolate().
Definition at line 26 of file ShapeSpacePlannerXYTheta.h.
Referenced by distance(), and toString().
const AngSignPi RRTNodeXYTheta::turnLimit = M_PI/12 [static] |
Maximum theta difference between adjacent nodes without interpolated collision checking.
Definition at line 54 of file ShapeSpacePlannerXYTheta.h.
Referenced by safeTurn().
The documentation for this class was generated from the following files:
