ShapeSpacePlannerXY Class Reference

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

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.

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

Definition at line 53 of file ShapeSpacePlannerXY.h.

Definition at line 54 of file ShapeSpacePlannerXY.h.

Definition at line 55 of file ShapeSpacePlannerXY.h.

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.

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.

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: