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RRTNodeXYTheta Class Reference

#include <ShapeSpacePlannerXYTheta.h>

Inheritance diagram for RRTNodeXYTheta:

Detailed Description

Definition at line 13 of file ShapeSpacePlannerXYTheta.h.

List of all members.

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:

Tekkotsu v5.1CVS
Generated Mon May 9 04:59:15 2016 by Doxygen 1.6.3