Exploration Graph
[Baselib]

data types for the definition of a graph used in the exploration More...


Namespaces
namespace	MipBaselib
Classes
class	MipBaselib::ExplorationNode
	Node of a graph. More...
class	MipBaselib::ExplorationGraph
	Node of a graph. More...
class	ExplorationNode
	Node of a graph. More...
class	ExplorationGraph
	Node of a graph. More...
Enumerations
enum	CellComparisonSurvey { OBST_VS_OBST, OBST_VS_FRONT, OBST_VS_UKWN, OBST_VS_LSR, FRONT_VS_OBST, FRONT_VS_FRONT, FRONT_VS_UKWN, FRONT_VS_LSR, UKWN_VS_OBST, UKWN_VS_FRONT, UKWN_VS_UKWN, UKWN_VS_LSR, LSR_VS_OBST, LSR_VS_FRONT, LSR_VS_UKWN, LSR_VS_LSR, CELL_COMPARISON_SURVEY_NUM, OBST_VS_OBST, OBST_VS_FRONT, OBST_VS_UKWN, OBST_VS_LSR, FRONT_VS_OBST, FRONT_VS_FRONT, FRONT_VS_UKWN, FRONT_VS_LSR, UKWN_VS_OBST, UKWN_VS_FRONT, UKWN_VS_UKWN, UKWN_VS_LSR, LSR_VS_OBST, LSR_VS_FRONT, LSR_VS_UKWN, LSR_VS_LSR, CELL_COMPARISON_SURVEY_NUM }
enum	AddNodeState { FIND_NEXT_NODE, UPDATE_NODE, FINALIZE_NODE, VERIFY, ADD_NODE_STATE_NUM }
enum	CellComparisonSurvey { OBST_VS_OBST, OBST_VS_FRONT, OBST_VS_UKWN, OBST_VS_LSR, FRONT_VS_OBST, FRONT_VS_FRONT, FRONT_VS_UKWN, FRONT_VS_LSR, UKWN_VS_OBST, UKWN_VS_FRONT, UKWN_VS_UKWN, UKWN_VS_LSR, LSR_VS_OBST, LSR_VS_FRONT, LSR_VS_UKWN, LSR_VS_LSR, CELL_COMPARISON_SURVEY_NUM, OBST_VS_OBST, OBST_VS_FRONT, OBST_VS_UKWN, OBST_VS_LSR, FRONT_VS_OBST, FRONT_VS_FRONT, FRONT_VS_UKWN, FRONT_VS_LSR, UKWN_VS_OBST, UKWN_VS_FRONT, UKWN_VS_UKWN, UKWN_VS_LSR, LSR_VS_OBST, LSR_VS_FRONT, LSR_VS_UKWN, LSR_VS_LSR, CELL_COMPARISON_SURVEY_NUM }
Functions
	MipBaselib::ExplorationNode::ExplorationNode ()
	MipBaselib::ExplorationNode::ExplorationNode (Scan scan, int ID, ExplorationParams params, Time nodeTime, Pose gridCenter)
	MipBaselib::ExplorationNode::ExplorationNode (const ExplorationNode &node)
	Copy constructor.
ExplorationNode &	MipBaselib::ExplorationNode::operator= (const ExplorationNode &node)
	Operator =.
void	MipBaselib::ExplorationNode::setGridScanParams (ExplorationParams value)
	Set the _ID parameter.
void	MipBaselib::ExplorationNode::setNodePose (ExplorationParams value)
	Set the _ID parameter.
void	MipBaselib::ExplorationNode::setID (int value)
	Set the _ID parameter.
void	MipBaselib::ExplorationNode::setScan (Scan value)
	Set the _scan parameter.
void	MipBaselib::ExplorationNode::setGrid (Grid value)
	Set the _grid parameter.
void	MipBaselib::ExplorationNode::insertAdjacency (int index, int value)
	Set the _adjacency parameter.
void	MipBaselib::ExplorationNode::insertRealAdjacency (int index, int value)
	Set the _adjacency parameter.
void	MipBaselib::ExplorationNode::insertWeight (int index, Decimal value)
	Set the _weight parameter.
void	MipBaselib::ExplorationNode::pushBackAdjacency (int value)
	Set the _adjacency parameter.
void	MipBaselib::ExplorationNode::pushBackRealAdjacency (int value)
	Set the _adjacency parameter.
void	MipBaselib::ExplorationNode::pushBackWeight (Decimal value)
	Set the _weight parameter.
void	MipBaselib::ExplorationNode::setNodeTime (Time value)
	Set the _nodeTime parameter.
int	MipBaselib::ExplorationNode::ID ()
	Get the _ID parameter.
Scan	MipBaselib::ExplorationNode::scan ()
	Get the _scan parameter.
Grid	MipBaselib::ExplorationNode::grid ()
	Get the _grid parameter.
Grid *	MipBaselib::ExplorationNode::gridPtr ()
	Get the _grid parameter.
vector< int >	MipBaselib::ExplorationNode::adjacency ()
	Get the _adjacency parameter.
vector< int >	MipBaselib::ExplorationNode::realAdjacency ()
	Get the _realAdjacency parameter.
vector< Decimal >	MipBaselib::ExplorationNode::weight ()
	Get the _weight parameter.
Time	MipBaselib::ExplorationNode::nodeTime ()
	Get the _nodeTime parameter.
string	MipBaselib::ExplorationNode::printAdj ()
string	MipBaselib::ExplorationNode::printWei ()
string	MipBaselib::ExplorationNode::print ()
void	MipBaselib::ExplorationGraph::graphAccess ()
void	MipBaselib::ExplorationGraph::graphRelease ()
bool	MipBaselib::ExplorationGraph::isAdjacent (ExplorationNode first, ExplorationNode second)
ExplorationNode	MipBaselib::ExplorationGraph::getNode (int ID)
ExplorationNode *	MipBaselib::ExplorationGraph::getNodePtr (int ID)
Time	MipBaselib::ExplorationGraph::getNodeLastUpd (int ID)
void	MipBaselib::ExplorationGraph::updateAdj (ExplorationNode &first, ExplorationNode &second)
void	MipBaselib::ExplorationGraph::updateGlobalGrid (int nodeID)
void	MipBaselib::ExplorationGraph::finalizeGlobalGrid ()
void	MipBaselib::ExplorationGraph::updateGlobalGrid2 (int nodeID)
void	MipBaselib::ExplorationGraph::updateLocalGrids ()
bool	MipBaselib::ExplorationGraph::addNode2 (int &lastCompared, int newNodeID)
bool	MipBaselib::ExplorationGraph::addNode (int &lastCompared, int newNodeID)
void	MipBaselib::ExplorationGraph::addNode (Scan scan, Pose nodePose)
void	MipBaselib::ExplorationGraph::setNextVP (Pose nextVP)
vector< int >	MipBaselib::ExplorationGraph::AStar (int IDstart, int IDdest)
	MipBaselib::ExplorationGraph::ExplorationGraph ()
	Default Constructor.
	MipBaselib::ExplorationGraph::ExplorationGraph (ExplorationParams params)
	Parametric Constructor.
	MipBaselib::ExplorationGraph::ExplorationGraph (ExplorationParams params, Decimal adjacTh)
	Parametric Constructor with threshold of adjacence.
	MipBaselib::ExplorationGraph::~ExplorationGraph ()
	Destructor.
	MipBaselib::ExplorationGraph::ExplorationGraph (const ExplorationGraph &g)
	Copy Constructor.
ExplorationGraph	MipBaselib::ExplorationGraph::operator= (const ExplorationGraph &g)
	Operator =.
Decimal	MipBaselib::ExplorationGraph::nodeDist (ExplorationNode first, ExplorationNode second)
void	MipBaselib::ExplorationGraph::compA ()
void	MipBaselib::ExplorationGraph::compW ()
bool	MipBaselib::compareFscore (ExplorationNode first, ExplorationNode second)
int	evalCoeff (Cell *cell)
	ExplorationNode::ExplorationNode (Scan scan, int ID, ExplorationParams params, Time nodeTime, Pose gridCenter)
void	ExplorationNode::setID (int value)
	Set the _ID parameter.
void	ExplorationNode::setScan (Scan value)
	Set the _scan parameter.
void	ExplorationNode::setGrid (Grid value)
	Set the _grid parameter.
void	ExplorationNode::setAdjacency (vector< int > value)
	Set the _adjacency parameter.
void	ExplorationNode::setWeight (vector< Decimal > value)
	Set the _weight parameter.
void	ExplorationNode::setNodeTime (Time value)
	Set the _nodeTime parameter.
int	ExplorationNode::ID ()
	Get the _ID parameter.
Scan	ExplorationNode::scan ()
	Get the _scan parameter.
Grid	ExplorationNode::grid ()
	Get the _grid parameter.
Grid *	ExplorationNode::gridPtr ()
	Get the _grid parameter.
vector< int >	ExplorationNode::adjacency ()
	Get the _adjacency parameter.
vector< Decimal >	ExplorationNode::weight ()
	Get the _weight parameter.
Time	ExplorationNode::nodeTime ()
	Get the _nodeTime parameter.
void	ExplorationGraph::graphAccess ()
void	ExplorationGraph::graphRelease ()
bool	ExplorationGraph::isAdjacent (ExplorationNode first, ExplorationNode second)
ExplorationNode	ExplorationGraph::getNode (int ID)
Time	ExplorationGraph::getNodeLastUpd (int ID)
void	ExplorationGraph::updateAdj (ExplorationNode first, ExplorationNode second)
void	ExplorationGraph::addNode (Scan scan)
void	ExplorationGraph::setNextVP (Pose nextVP)
	ExplorationGraph::ExplorationGraph ()
	Default Constructor.
	ExplorationGraph::ExplorationGraph (ExplorationParams params)
	Parametric Constructor.
	ExplorationGraph::ExplorationGraph (ExplorationParams params, Decimal adjacTh)
	Parametric Constructor with threshold of adjacence.
	ExplorationGraph::~ExplorationGraph ()
	Destructor.
	ExplorationGraph::ExplorationGraph (const ExplorationGraph &g)
	Copy Constructor.
ExplorationGraph	ExplorationGraph::operator= (const ExplorationGraph &g)
	Operator =.
Decimal	ExplorationGraph::nodeDist (ExplorationNode first, ExplorationNode second)
void	ExplorationGraph::compA ()
void	ExplorationGraph::compW ()
vector< Cell * >	bresenhamCircle (ExplorationNode node, Cell start, Cell stop, Cell *center)
Variables
static const char *	CellComparisonSurveyName [CELL_COMPARISON_SURVEY_NUM]
static const char *	AddNodeStateName [ADD_NODE_STATE_NUM]
Scan	MipBaselib::ExplorationNode::_scan
Grid	MipBaselib::ExplorationNode::_grid
vector< int >	MipBaselib::ExplorationNode::_adjacency
vector< int >	MipBaselib::ExplorationNode::_realAdjacency
vector< Decimal >	MipBaselib::ExplorationNode::_weight
Time	MipBaselib::ExplorationNode::_nodeTime
Decimal	MipBaselib::ExplorationNode::_gScore
Decimal	MipBaselib::ExplorationNode::_hScore
Decimal	MipBaselib::ExplorationNode::_fScore
int	MipBaselib::ExplorationNode::cameFrom
ExplorationParams	MipBaselib::ExplorationGraph::_params
Timer	MipBaselib::ExplorationGraph::_graphTimer
Decimal	MipBaselib::ExplorationGraph::_adjacTh
vector< int >	MipBaselib::ExplorationGraph::_Amatrix
vector< Decimal >	MipBaselib::ExplorationGraph::_Wmatrix
Pose	MipBaselib::ExplorationGraph::_nextVP
Grid	MipBaselib::ExplorationGraph::globalGrid
vector< int >	MipBaselib::ExplorationGraph::bounds
vector< int >	MipBaselib::ExplorationGraph::arrived
Time	MipBaselib::ExplorationGraph::deadLine
pthread_mutex_t	MipBaselib::ExplorationGraph::mutex
static const char *	CellComparisonSurveyName [CELL_COMPARISON_SURVEY_NUM]
ExplorationParams	ExplorationGraph::_params
Timer	ExplorationGraph::_graphTimer
Decimal	ExplorationGraph::_adjacTh
vector< int >	ExplorationGraph::_Amatrix
vector< Decimal >	ExplorationGraph::_Wmatrix
Pose	ExplorationGraph::_nextVP
pthread_mutex_t	ExplorationGraph::mutex

Detailed Description

data types for the definition of a graph used in the exploration

Enumeration Type Documentation

enum AddNodeState

Enumerator:

FIND_NEXT_NODE
UPDATE_NODE
FINALIZE_NODE
VERIFY
ADD_NODE_STATE_NUM

enum CellComparisonSurvey

Enumerator:

OBST_VS_OBST
OBST_VS_FRONT
OBST_VS_UKWN
OBST_VS_LSR
FRONT_VS_OBST
FRONT_VS_FRONT
FRONT_VS_UKWN
FRONT_VS_LSR
UKWN_VS_OBST
UKWN_VS_FRONT
UKWN_VS_UKWN
UKWN_VS_LSR
LSR_VS_OBST
LSR_VS_FRONT
LSR_VS_UKWN
LSR_VS_LSR
CELL_COMPARISON_SURVEY_NUM
OBST_VS_OBST
OBST_VS_FRONT
OBST_VS_UKWN
OBST_VS_LSR
FRONT_VS_OBST
FRONT_VS_FRONT
FRONT_VS_UKWN
FRONT_VS_LSR
UKWN_VS_OBST
UKWN_VS_FRONT
UKWN_VS_UKWN
UKWN_VS_LSR
LSR_VS_OBST
LSR_VS_FRONT
LSR_VS_UKWN
LSR_VS_LSR
CELL_COMPARISON_SURVEY_NUM

enum CellComparisonSurvey

Enumerator:

OBST_VS_OBST
OBST_VS_FRONT
OBST_VS_UKWN
OBST_VS_LSR
FRONT_VS_OBST
FRONT_VS_FRONT
FRONT_VS_UKWN
FRONT_VS_LSR
UKWN_VS_OBST
UKWN_VS_FRONT
UKWN_VS_UKWN
UKWN_VS_LSR
LSR_VS_OBST
LSR_VS_FRONT
LSR_VS_UKWN
LSR_VS_LSR
CELL_COMPARISON_SURVEY_NUM
OBST_VS_OBST
OBST_VS_FRONT
OBST_VS_UKWN
OBST_VS_LSR
FRONT_VS_OBST
FRONT_VS_FRONT
FRONT_VS_UKWN
FRONT_VS_LSR
UKWN_VS_OBST
UKWN_VS_FRONT
UKWN_VS_UKWN
UKWN_VS_LSR
LSR_VS_OBST
LSR_VS_FRONT
LSR_VS_UKWN
LSR_VS_LSR
CELL_COMPARISON_SURVEY_NUM

Function Documentation

void ExplorationGraph::addNode ( Scan scan ) [inherited]

void MipBaselib::ExplorationGraph::addNode	(	Scan	scan,
		Pose	nodePose
	)			`[inherited]`

bool ExplorationGraph::addNode	(	int &	lastCompared,
		int	newNodeID
	)			`[inherited]`

bool MipBaselib::ExplorationGraph::addNode2	(	int &	lastCompared,
		int	newNodeID
	)			`[inherited]`

vector<int> ExplorationNode::adjacency ( ) [inline, inherited]

Get the _adjacency parameter.

vector<int> MipBaselib::ExplorationNode::adjacency ( ) [inline, inherited]

Get the _adjacency parameter.

vector< int > ExplorationGraph::AStar	(	int	IDstart,
		int	IDdest
	)			`[inherited]`

vector<Cell*> bresenhamCircle	(	ExplorationNode	node,
		Cell *	start,
		Cell *	stop,
		Cell *	center
	)

Main dell'algoritmo di homing che chiama i metodi necessari

Parameters:

	sd	matrice che descrive gli start ed i goal di tutti i robot
	Back	soluzione di backtracking per l'inizializzazione della soluzione (proprietà dell'anytime)
	numRobot	numero di robot

Returns:: Soluzione migliore trovata al termine del numero massimo di iterazione dell' hill climbing< compute the APSP matrix of the graph obtained from inGraph excluding the nodes in the list. if the list is NULL, the graph remains itself Cerca i nodi adiacenti ad un nodo passato

Parameters:

nod

IdNode del nodo di cui si vogliono cercare gli adiacenti

Returns:: mappa di IdNode con tutti gli adiacenti del nodo Implementa il metodo di ricerca su grafo A*

Parameters:

	start	nodo di origine
	dest	nodo di destinazione

Returns:: cammino trovato restituisce true se sono presenti dei conflitti su nodi o archi

Parameters:

Sol

Soluzione ottima da valutare

Returns:: booleano che rappresenta la presenza di conflitti Data una soluzione ritorna una struttura che rappresenta i vincoli

Parameters:

Sol

Soluzione ottima da valutare

Returns:: Matrice di interi che rappresentano i robot vincolati in ogni riga ci sono due numeri il primo è il robot che deve passare per primo Implementa il metodo di ricerca su grafo A* espanso nello spazio tempo

Parameters:

	Par	Soluzione parziale, il cammino dei robot che hanno già ripianificato
	s	nodo di origine
	d	nodo di destinazione

Returns:: cammino trovato Dato un vettore di priorità restituisce una soluzione ammissibile nello spazio tempo altrimenti fallisce

Parameters:

	priority[]	schema di priorità
	ott	soluzione ottima senza considerare lo spazio tempo
	sd	matrice di start e goal

Returns:: soluzione trovata oppure fallimento Dato un vettore di priorità ammissibile ne restituisce un altro che soddisfa i vincoli ottenuto da quello vecchio scambiando il posto di due robot utilizzato per le iterazioni della ricerca hill climbing

Parameters:

	prty	puntatore al vecchio schema di priorità da cambiare
	vincoli	vincoli che devono essere soddisfatti
	numRobot	numero di robot Dato un insieme di vincoli restituisce un vettore di priorità che soddisfa questi vincoli, utilizzato per l'inizializzazione del'algoritmo hill climbing e per il restart casuale per evitare i minimi locali
	vincoli	vincoli che devono essere soddisfatti
	pr	puntatore al vettore dove deve essre scritto lo scehma di priorità
	numRobot	numero di robot Calcola il costo di una soluzione. Il costo è pari alla lunghezza del cammino più lungo tra quelli presenti nella soluzione
	Sol	Soluzione da valutare

Returns:: il costo della soluzione Stampa le info principali di un grafo di un robot

Parameters:

	robot	robot del quale si vogliono stampare le info Stampa il peso dei nodi
	robot	robot del quale si vogliono stampare le info Scrive su file le info necessarie a ricostruire un grafo
	nomefile	nome del file (deve terminare in .txt) Legge da file le info e crea il grafo salvato
	nomefile	nome del file (deve terminare in .txt) Scrive su file le info necessarie a ricostruire un grafo
	nomefile	nome del file (deve terminare in .txt) Legge da file le info e crea il grafo salvato
	nomefile	nome del file (deve terminare in .txt)

void ExplorationGraph::compA ( ) [inherited]

Construct the adjacency matrix of the graph. NOTE USEFUL?

void ExplorationGraph::compA ( ) [inherited]

Construct the adjacency matrix of the graph. NOTE USEFUL?

bool MipBaselib::compareFscore	(	ExplorationNode *	first,
		ExplorationNode *	second
	)

void ExplorationGraph::compW ( ) [inherited]

Construct the weight matrix of the graph. NOTE USEFUL?

void ExplorationGraph::compW ( ) [inherited]

Construct the weight matrix of the graph. NOTE USEFUL?

int evalCoeff ( Cell * cell )

ExplorationGraph::ExplorationGraph ( const ExplorationGraph & g ) [inherited]

Copy Constructor.

ExplorationGraph::ExplorationGraph	(	ExplorationParams	params,
		Decimal	adjacTh
	)			`[inherited]`

Parametric Constructor with threshold of adjacence.

ExplorationGraph::ExplorationGraph ( ExplorationParams params ) [inherited]

Parametric Constructor.

ExplorationGraph::ExplorationGraph ( ) [inline, inherited]

Default Constructor.

ExplorationGraph::ExplorationGraph ( const ExplorationGraph & g ) [inherited]

Copy Constructor.

ExplorationGraph::ExplorationGraph	(	ExplorationParams	params,
		Decimal	adjacTh
	)			`[inherited]`

Parametric Constructor with threshold of adjacence.

ExplorationGraph::ExplorationGraph ( ExplorationParams params ) [inherited]

Parametric Constructor.

MipBaselib::ExplorationGraph::ExplorationGraph ( ) [inline, inherited]

Default Constructor.

ExplorationNode::ExplorationNode	(	Scan	scan,
		int	ID,
		ExplorationParams	params,
		Time	nodeTime,
		Pose	gridCenter
	)			`[inherited]`

MipBaselib::ExplorationNode::ExplorationNode ( const ExplorationNode & node ) [inline, inherited]

Copy constructor.

ExplorationNode::ExplorationNode	(	Scan	scan,
		int	ID,
		ExplorationParams	params,
		Time	nodeTime,
		Pose	gridCenter
	)			`[inherited]`

MipBaselib::ExplorationNode::ExplorationNode ( ) [inline, inherited]

void ExplorationGraph::finalizeGlobalGrid ( ) [inherited]

ExplorationNode ExplorationGraph::getNode ( int ID ) [inherited]

Time ExplorationGraph::getNodeLastUpd ( int ID ) [inherited]

ExplorationNode * ExplorationGraph::getNodePtr ( int ID ) [inherited]

void ExplorationGraph::graphAccess ( ) [inline, inherited]

richiesta di accesso, da invocare all'inizio di ogni metodo pubblico

void MipBaselib::ExplorationGraph::graphAccess ( ) [inline, inherited]

richiesta di accesso, da invocare all'inizio di ogni metodo pubblico

void ExplorationGraph::graphRelease ( ) [inline, inherited]

void MipBaselib::ExplorationGraph::graphRelease ( ) [inline, inherited]

Grid ExplorationNode::grid ( ) [inline, inherited]

Get the _grid parameter.

Grid MipBaselib::ExplorationNode::grid ( ) [inline, inherited]

Get the _grid parameter.

Grid* ExplorationNode::gridPtr ( ) [inline, inherited]

Get the _grid parameter.

Grid* MipBaselib::ExplorationNode::gridPtr ( ) [inline, inherited]

Get the _grid parameter.

int ExplorationNode::ID ( ) [inline, inherited]

Get the _ID parameter.

int MipBaselib::ExplorationNode::ID ( ) [inline, inherited]

Get the _ID parameter.

void MipBaselib::ExplorationNode::insertAdjacency	(	int	index,
		int	value
	)			`[inline, inherited]`

Set the _adjacency parameter.

void MipBaselib::ExplorationNode::insertRealAdjacency	(	int	index,
		int	value
	)			`[inline, inherited]`

Set the _adjacency parameter.

void MipBaselib::ExplorationNode::insertWeight	(	int	index,
		Decimal	value
	)			`[inline, inherited]`

Set the _weight parameter.

bool ExplorationGraph::isAdjacent	(	ExplorationNode	first,
		ExplorationNode	second
	)			`[inherited]`

bool ExplorationGraph::isAdjacent	(	ExplorationNode *	first,
		ExplorationNode *	second
	)			`[inherited]`

Decimal ExplorationGraph::nodeDist	(	ExplorationNode	first,
		ExplorationNode	second
	)			`[inherited]`

Compute the Euclidean distance between two nodes.

Parameters:

first,second

node for distance comutation.

Returns:: Euclidean distance between first and second. TODO sostituire con distanza percorsa per andare dal primo al secondo.

Decimal ExplorationGraph::nodeDist	(	ExplorationNode	first,
		ExplorationNode	second
	)			`[inherited]`

Compute the Euclidean distance between two nodes.

Parameters:

first,second

node for distance comutation.

Returns:: Euclidean distance between first and second. TODO sostituire con distanza percorsa per andare dal primo al secondo.

Time ExplorationNode::nodeTime ( ) [inline, inherited]

Get the _nodeTime parameter.

Time MipBaselib::ExplorationNode::nodeTime ( ) [inline, inherited]

Get the _nodeTime parameter.

ExplorationGraph ExplorationGraph::operator= ( const ExplorationGraph & g ) [inline, inherited]

Operator =.

ExplorationGraph MipBaselib::ExplorationGraph::operator= ( const ExplorationGraph & g ) [inline, inherited]

Operator =.

ExplorationNode& MipBaselib::ExplorationNode::operator= ( const ExplorationNode & node ) [inline, inherited]

Operator =.

string MipBaselib::ExplorationNode::print ( ) [inline, inherited]

string MipBaselib::ExplorationNode::printAdj ( ) [inline, inherited]

string MipBaselib::ExplorationNode::printWei ( ) [inline, inherited]

void MipBaselib::ExplorationNode::pushBackAdjacency ( int value ) [inline, inherited]

Set the _adjacency parameter.

void MipBaselib::ExplorationNode::pushBackRealAdjacency ( int value ) [inline, inherited]

Set the _adjacency parameter.

void MipBaselib::ExplorationNode::pushBackWeight ( Decimal value ) [inline, inherited]

Set the _weight parameter.

vector<int> MipBaselib::ExplorationNode::realAdjacency ( ) [inline, inherited]

Get the _realAdjacency parameter.

Scan ExplorationNode::scan ( ) [inline, inherited]

Get the _scan parameter.

Scan MipBaselib::ExplorationNode::scan ( ) [inline, inherited]

Get the _scan parameter.

void ExplorationNode::setAdjacency ( vector< int > value ) [inline, inherited]

Set the _adjacency parameter.

void ExplorationNode::setGrid ( Grid value ) [inline, inherited]

Set the _grid parameter.

void MipBaselib::ExplorationNode::setGrid ( Grid value ) [inline, inherited]

Set the _grid parameter.

void MipBaselib::ExplorationNode::setGridScanParams ( ExplorationParams value ) [inline, inherited]

Set the _ID parameter.

void ExplorationNode::setID ( int value ) [inline, inherited]

Set the _ID parameter.

void MipBaselib::ExplorationNode::setID ( int value ) [inline, inherited]

Set the _ID parameter.

void ExplorationGraph::setNextVP ( Pose nextVP ) [inline, inherited]

void MipBaselib::ExplorationGraph::setNextVP ( Pose nextVP ) [inline, inherited]

void MipBaselib::ExplorationNode::setNodePose ( ExplorationParams value ) [inline, inherited]

Set the _ID parameter.

void ExplorationNode::setNodeTime ( Time value ) [inline, inherited]

Set the _nodeTime parameter.

void MipBaselib::ExplorationNode::setNodeTime ( Time value ) [inline, inherited]

Set the _nodeTime parameter.

void ExplorationNode::setScan ( Scan value ) [inline, inherited]

Set the _scan parameter.

void MipBaselib::ExplorationNode::setScan ( Scan value ) [inline, inherited]

Set the _scan parameter.

void ExplorationNode::setWeight ( vector< Decimal > value ) [inline, inherited]

Set the _weight parameter.

void ExplorationGraph::updateAdj	(	ExplorationNode	first,
		ExplorationNode	second
	)			`[inherited]`

void ExplorationGraph::updateAdj	(	ExplorationNode &	first,
		ExplorationNode &	second
	)			`[inherited]`

void ExplorationGraph::updateGlobalGrid ( int nodeID ) [inherited]

void ExplorationGraph::updateGlobalGrid2 ( int nodeID ) [inherited]

void ExplorationGraph::updateLocalGrids ( ) [inherited]

vector<Decimal> ExplorationNode::weight ( ) [inline, inherited]

Get the _weight parameter.

vector<Decimal> MipBaselib::ExplorationNode::weight ( ) [inline, inherited]

Get the _weight parameter.

ExplorationGraph::~ExplorationGraph ( ) [inherited]

Destructor.

ExplorationGraph::~ExplorationGraph ( ) [inherited]

Destructor.

Variable Documentation

vector<int> MipBaselib::ExplorationNode::_adjacency [inherited]

Vector containing the adjacency relations with other nodes of the graph.

Decimal ExplorationGraph::_adjacTh [inherited]

Minimum distance between two adjacent nodes.

Decimal MipBaselib::ExplorationGraph::_adjacTh [inherited]

Minimum distance between two adjacent nodes.

vector<int> ExplorationGraph::_Amatrix [inherited]

Adjacency Matrix (A[i,j]=1 if graph[i] is adjacent to graph[j]), 0 otherwise.

vector<int> MipBaselib::ExplorationGraph::_Amatrix [inherited]

Adjacency Matrix (A[i,j]=1 if graph[i] is adjacent to graph[j]), 0 otherwise.

Decimal MipBaselib::ExplorationNode::_fScore [inherited]

Timer ExplorationGraph::_graphTimer [inherited]

Timer used for node timing.

Timer MipBaselib::ExplorationGraph::_graphTimer [inherited]

Timer used for node timing.

Grid MipBaselib::ExplorationNode::_grid [inherited]

Grid constructed by th scan.

Decimal MipBaselib::ExplorationNode::_gScore [inherited]

Decimal MipBaselib::ExplorationNode::_hScore [inherited]

Pose ExplorationGraph::_nextVP [inherited]

Pose MipBaselib::ExplorationGraph::_nextVP [inherited]

Time MipBaselib::ExplorationNode::_nodeTime [inherited]

ExplorationParams ExplorationGraph::_params [inherited]

Exploration paramenters such as sensor range and sensoe scan angle.

ExplorationParams MipBaselib::ExplorationGraph::_params [inherited]

Exploration paramenters such as sensor range and sensoe scan angle.

vector<int> MipBaselib::ExplorationNode::_realAdjacency [inherited]

Vector containing the adjacency relations with other nodes of the graph.

Scan MipBaselib::ExplorationNode::_scan [inherited]

Scan acquired in the node.

vector<Decimal> MipBaselib::ExplorationNode::_weight [inherited]

Vector containing the weights of the edges of the graph.

vector<Decimal> ExplorationGraph::_Wmatrix [inherited]

Weight Matrix (W[i,j]=dist(graph[i],graph[j])).

vector<Decimal> MipBaselib::ExplorationGraph::_Wmatrix [inherited]

Weight Matrix (W[i,j]=dist(graph[i],graph[j])).

const char* AddNodeStateName[ADD_NODE_STATE_NUM] [static]

Initial value:

{
 "Find Next Node",
 "Update Node",
 "Finalize Node",
 "Verify"
}

vector<int> MipBaselib::ExplorationGraph::arrived [inherited]

vector<int> MipBaselib::ExplorationGraph::bounds [inherited]

int MipBaselib::ExplorationNode::cameFrom [inherited]

const char* CellComparisonSurveyName[CELL_COMPARISON_SURVEY_NUM] [static]

Initial value:

{
 "Obstacle vs  Obstacle",
 "Obstacle vs Frontier",
 "Obstacle vs Unknown",
 "Obstacle vs LSR",
 "Frontier vs  Obstacle",
 "Frontier vs Frontier",
 "Frontier vs Unknown",
 "Frontier vs LSR",
 "Unknown vs  Obstacle",
 "Unknown vs Frontier",
 "Unknown vs Unknown",
 "Unknown vs LSR",
 "LSR vs  Obstacle",
 "LSR vs Frontier",
 "LSR vs Unknown",
 "LSR vs LSR",
}

const char* CellComparisonSurveyName[CELL_COMPARISON_SURVEY_NUM] [static]

Initial value:

{
 "Obstacle vs  Obstacle",
 "Obstacle vs Frontier",
 "Obstacle vs Unknown",
 "Obstacle vs LSR",
 "Frontier vs  Obstacle",
 "Frontier vs Frontier",
 "Frontier vs Unknown",
 "Frontier vs LSR",
 "Unknown vs  Obstacle",
 "Unknown vs Frontier",
 "Unknown vs Unknown",
 "Unknown vs LSR",
 "LSR vs  Obstacle",
 "LSR vs Frontier",
 "LSR vs Unknown",
 "LSR vs LSR",
}

Time MipBaselib::ExplorationGraph::deadLine [inherited]

Grid MipBaselib::ExplorationGraph::globalGrid [inherited]

pthread_mutex_t ExplorationGraph::mutex [inherited]

pthread_mutex_t MipBaselib::ExplorationGraph::mutex [inherited]

Exploration Graph [Baselib]

Namespaces

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

Function Documentation

Variable Documentation

Exploration Graph
[Baselib]