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 checking. More...

#include <ShapeSpacePlannerXYTheta.h>

Inheritance diagram for ShapeSpacePlannerXYTheta:

[legend]

Detailed Description

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

Definition at line 79 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)
	Set up initial search trees.
AngTwoPi	tangentHeading (const NodeValue_t &start, const NodeValue_t &end) const
	Calculate the heading necessary to point the baseOffset at the target.
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 &startPoint, const fmat::Column< 3 > &_baseOffset, float gateLength, const Point &endPoint, 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)
	Plan a robot path from startPoint to endPoint with optional targetHeading at the end.
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))
Static Public Attributes
static unsigned int const	numDivisions = 18
	Number of divisions of the circle to try when targetHeading unspecified.
Private Attributes
float	targetHeading
	Set by planPath() and used by initialize().
fmat::Column< 3 >	baseOffset
	Set by planPath() and used by initialize().
float	gateLength
	Set by planPath() and used by initialize().

Member Typedef Documentation

typedef RRTNodeXYTheta ShapeSpacePlannerXYTheta::NodeType_t

Definition at line 81 of file ShapeSpacePlannerXYTheta.h.

typedef NodeType_t::NodeValue_t ShapeSpacePlannerXYTheta::NodeValue_t

Reimplemented from GenericRRT< RRTNodeXYTheta, 2 >.

Definition at line 82 of file ShapeSpacePlannerXYTheta.h.

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 88 of file ShapeSpacePlannerXYTheta.h.

Member Function Documentation

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

Reimplemented from GenericRRT< RRTNodeXYTheta, 2 >.

Definition at line 270 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]`

Set up initial search trees.

Reimplemented from GenericRRT< RRTNodeXYTheta, 2 >.

Definition at line 214 of file ShapeSpacePlannerXYTheta.cc.

GenericRRTBase::PlannerResult2D ShapeSpacePlannerXYTheta::planPath	(	const Point &	startPoint,
		const fmat::Column< 3 > &	_baseOffset,
		float	gateLength,
		const Point &	endPoint,
		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`
	)

Plan a robot path from startPoint to endPoint with optional targetHeading at the end.

Parameters:

	startPoint	Starting location of the robot
	baseOffset	Offset from the base frame, e.g., if we want a path that brings the gripper (rather than the base) to a particular location
	endPoint	Desired ending point
	initialHeading	The robot's heading at the start of the path
	targetHeading	Desired final heading; if unspecified, the planner generates a collection of possible target headings to try for
	maxIterations	Maximum number of iterations for the RRT to search before giving up
	pathResult	Stores the final, smoothed path computed by the planner
	treeStartResult	Stores the start search tree; only used for debugging or teaching
	treeEndResult	Stores the end search tree; only used for debugging or teaching

Definition at line 384 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 429 of file ShapeSpacePlannerXYTheta.cc.

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