Classes | |
class | RRTnode |
class | RRTparams |
Class containing various parameters for RRT algorithm. More... | |
class | RRT |
Class implementing a Rapidly-exploring Random Tree. More... | |
class | RTR |
Class implementing a rotate travel rotate path planner. More... | |
Enumerations | |
enum | PathPlanners { RRT_PLANNER, PATH_PLANNERS_NUM } |
Path Planners enumerator. More... | |
enum | PrimitivesType { STRAIGHT, TURN_LEFT, TURN_RIGHT, NULL_PRIMITIVE, PRIMITIVES_NUM } |
Primitives enumerator. More... | |
enum | RRTstate { FIND_Q_RAND, FIND_Q_NEAR, FIND_Q_NEW, COLLISION_CHECK, UPDATE, GOAL_REACHED, FIND_PATH, SEARCH_COMPLETE, STATE_NUM } |
RRT building state enumerator. More... | |
Functions | |
RRTnode::RRTnode () | |
RRTnode::RRTnode (int ID, Pose q, int maxIter) | |
RRTnode::RRTnode (int maxIter) | |
RRTnode::RRTnode (const RRTnode &n) | |
Copy constructor. | |
RRTnode & | RRTnode::operator= (const RRTnode &n) |
Operator =. | |
int | RRTnode::ID () |
Gets the _ID parameter. | |
Pose | RRTnode::q () |
Gets the _q parameter. | |
vector< int > | RRTnode::freePrimitives () |
Gets the _freePrimitives parameter. | |
int | RRTnode::freePrimitivesNum () |
Gets the _freePrimitives parameter. | |
int | RRTnode::parentID () |
Gets the _parentID parameter. | |
int | RRTnode::edgeType () |
Gets the _edgeType parameter. | |
Decimal | RRTnode::CSpaceDist () |
Gets the _CSpaceDist parameter. | |
Cell * | RRTnode::cell () |
Gets the _cell parameter. | |
Segment | RRTnode::straight () |
Gets the _straight parameter. | |
Ellipse | RRTnode::left () |
Gets the _left parameter. | |
Ellipse | RRTnode::right () |
Gets the _right parameter. | |
string | RRTnode::print () |
Prints on the screen all class parametes. | |
void | RRTnode::setID (int value) |
Sets the _ID parameter. | |
void | RRTnode::setQ (Pose value) |
Sets the _q parameter. | |
void | RRTnode::setFreePrimitives (vector< int > value) |
Sets the _freePrimitives parameter. | |
void | RRTnode::clearFreePrimitivesElem (int value) |
Sets to 0 the element of _freePrimitives selected by value. | |
void | RRTnode::setFreePrimitivesNum (int value) |
Sets the _freePrimitivesNum parameter. | |
void | RRTnode::decreaseFreePrimitivesNum () |
Decreases by 1 the _freePrimitivesNum parameter. | |
void | RRTnode::setParentID (int value) |
Sets the _parentID parameter. | |
void | RRTnode::setEdgeType (int value) |
Sets the _edgeType parameter. | |
void | RRTnode::setCSpaceDist (Decimal value) |
Sets the _CSpaceDist parameter. | |
void | RRTnode::setCell (Cell *value) |
Sets the _cell parameter. | |
void | RRTnode::setStraight (Segment value) |
Sets the _straight parameter. | |
void | RRTnode::setLeft (Ellipse value) |
Sets the _left parameter. | |
void | RRTnode::setRight (Ellipse value) |
Sets the _right parameter. | |
RRTparams::RRTparams () | |
Default Constructor. | |
RRTparams::RRTparams (int maxIterations, Decimal delta, Decimal threshold, Decimal probBiasedExpansion) | |
Parametric Constructor. | |
RRTparams::RRTparams (const RRTparams ¶ms) | |
Copy constructor. | |
RRTparams & | RRTparams::operator= (const RRTparams ¶ms) |
Operator =. | |
int | RRTparams::maxIterations () |
Gets the _maxIterations parameter. | |
Decimal | RRTparams::deltaT () |
Gets the _deltaT parameter. | |
Decimal | RRTparams::threshold () |
Gets the _threshold parameter. | |
Decimal | RRTparams::probBiasedExpansion () |
Gets the _probBiasedExpansion parameter. | |
vector< VelVec > | RRTparams::motionPrimitives () |
Gets the _motionPrimitives parameter. | |
void | RRTparams::setMaxIterations (int value) |
Sets the _maxIterations parameter. | |
void | RRTparams::setDeltaT (Decimal value) |
Sets the _deltaT parameter. | |
void | RRTparams::setThreshold (Decimal value) |
Sets the _threshold parameter. | |
void | RRTparams::setProbBiasedExpansion (Decimal value) |
Sets the _probBiasedExpansion parameter. | |
void | RRTparams::setMotionPrimitives (vector< VelVec > value) |
Sets the _motionPrimitives parameter. | |
RRT::RRT () | |
Default consturctor. | |
RRT::RRT (RRTparams params) | |
RRT::RRT (RRTparams params, Pose qStart, Pose qGoal, ExplorationNode *expNode) | |
Paramtric consturctor. | |
RRT::RRT (const RRT &rrt) | |
Copy constructor. | |
RRT & | RRT::operator= (const RRT &rrt) |
Operator =. | |
void | RRT::initializeTree () |
Create the tree, the Adjacency and Weights Matrices for RRT algorithm. | |
void | RRT::findQrand () |
Chooses a random configutìration or the goal configuration for the RRT algorithm. | |
Decimal | RRT::CSpaceDist (Pose q1, Pose q2) |
Computes the distance between two configuration in the SO manifold. | |
void | RRT::findQnear () |
Finds the node of the tree nearest to _qRand. | |
PrimitivesType | RRT::findQnew () |
bool | RRT::isCollisionFree (RRTnode node, Grid *grid) |
void | RRT::update () |
bool | RRT::buildRRT (vector< Path * > &path, int &complIter) |
Builds the Rapidly-exploring Random Tree. | |
bool | RRT::buildRRT2 (vector< Path * > &path, vector< Path * > &tree, int &complIter) |
Builds the Rapidly-exploring Random Tree. | |
RRTparams | RRT::params () |
Gets the _params parameter. | |
Pose | RRT::qStart () |
Gets the _qStart parameter. | |
Pose | RRT::qGoal () |
Gets the _qGoal parameter. | |
Pose | RRT::qRand () |
Gets the _qRand parameter. | |
ExplorationNode * | RRT::expNode () |
Gets the _grid parameter. | |
void | RRT::setParams (RRTparams value) |
Sets the _params parameter. | |
void | RRT::setQStart (Pose value) |
Sets the _qStart parameter. | |
void | RRT::setQGoal (Pose value) |
Sets the _qGoal parameter. | |
void | RRT::setQRand (Pose value) |
Sets the _qRand parameter. | |
void | RRT::setExpNode (ExplorationNode *value) |
Sets the _grid parameter. | |
string | RRT::print () |
Prints on the screen all class parametes. | |
bool | RTR::buildRTR (Angle &rotation, Segment &segment, Pose start, Pose goal) |
Build the path. | |
Variables | |
static const char * | PathPlannersNames [PATH_PLANNERS_NUM] |
Path Planners names. | |
static const char * | PrimitivesNames [PRIMITIVES_NUM] |
Path names. | |
static const char * | RRTstateNames [STATE_NUM] |
RRT building state names. | |
Pose | RRTnode::_q |
vector< int > | RRTnode::_freePrimitives |
int | RRTnode::_freePrimitivesNum |
int | RRTnode::_parentID |
int | RRTnode::_edgeType |
Decimal | RRTnode::_CSpaceDist |
Cell * | RRTnode::_cell |
Segment | RRTnode::_straight |
Ellipse | RRTnode::_left |
Ellipse | RRTnode::_right |
Pose | RRT::_qStart |
Pose | RRT::_qGoal |
Pose | RRT::_qRand |
Pose | RRT::_qNear |
RRTnode | RRT::_tempNode |
ExplorationNode * | RRT::_expNode |
vector< RRTnode > | RRT::_tree |
vector< int > | RRT::_sortedByDistance |
Decimal | RRT::radius |
Decimal | RRT::lenght |
Timer | RRT::timer |
Cell * | RRT::_goalCell |
int | RRT::_nearest |
Pose | RRT::_nearestPose |
int | RRT::selPrim |
vector< int > | RRT::_pathNodes |
enum PathPlanners |
enum PrimitivesType |
bool RRT::buildRRT | ( | vector< Path * > & | path, | |
int & | complIter | |||
) | [inherited] |
Builds the Rapidly-exploring Random Tree.
bool RRT::buildRRT2 | ( | vector< Path * > & | path, | |
vector< Path * > & | tree, | |||
int & | complIter | |||
) | [inherited] |
Builds the Rapidly-exploring Random Tree.
Build the path.
[out] | &rotation | . |
[out] | &segment | . |
[in] | start | . |
[in] | goal | . |
Cell* RRTnode::cell | ( | ) | [inline, inherited] |
Gets the _cell parameter.
void RRTnode::clearFreePrimitivesElem | ( | int | value | ) | [inline, inherited] |
Sets to 0 the element of _freePrimitives selected by value.
Computes the distance between two configuration in the SO manifold.
Decimal RRTnode::CSpaceDist | ( | ) | [inline, inherited] |
Gets the _CSpaceDist parameter.
void RRTnode::decreaseFreePrimitivesNum | ( | ) | [inline, inherited] |
Decreases by 1 the _freePrimitivesNum parameter.
Decimal RRTparams::deltaT | ( | ) | [inline, inherited] |
Gets the _deltaT parameter.
int RRTnode::edgeType | ( | ) | [inline, inherited] |
Gets the _edgeType parameter.
ExplorationNode* RRT::expNode | ( | ) | [inline, inherited] |
Gets the _grid parameter.
void RRT::findQnear | ( | ) | [inherited] |
Finds the node of the tree nearest to _qRand.
PrimitivesType RRT::findQnew | ( | ) | [inherited] |
void RRT::findQrand | ( | ) | [inherited] |
Chooses a random configutìration or the goal configuration for the RRT algorithm.
vector<int> RRTnode::freePrimitives | ( | ) | [inline, inherited] |
Gets the _freePrimitives parameter.
int RRTnode::freePrimitivesNum | ( | ) | [inline, inherited] |
Gets the _freePrimitives parameter.
int RRTnode::ID | ( | ) | [inline, inherited] |
Gets the _ID parameter.
void RRT::initializeTree | ( | ) | [inherited] |
Create the tree, the Adjacency and Weights Matrices for RRT algorithm.
Ellipse RRTnode::left | ( | ) | [inline, inherited] |
Gets the _left parameter.
int RRTparams::maxIterations | ( | ) | [inline, inherited] |
Gets the _maxIterations parameter.
vector<VelVec> RRTparams::motionPrimitives | ( | ) | [inline, inherited] |
Gets the _motionPrimitives parameter.
RRTparams RRT::params | ( | ) | [inline, inherited] |
Gets the _params parameter.
int RRTnode::parentID | ( | ) | [inline, inherited] |
Gets the _parentID parameter.
string RRT::print | ( | ) | [inline, inherited] |
Prints on the screen all class parametes.
string RRTnode::print | ( | ) | [inline, inherited] |
Prints on the screen all class parametes.
Decimal RRTparams::probBiasedExpansion | ( | ) | [inline, inherited] |
Gets the _probBiasedExpansion parameter.
Pose RRTnode::q | ( | ) | [inline, inherited] |
Gets the _q parameter.
Pose RRT::qGoal | ( | ) | [inline, inherited] |
Gets the _qGoal parameter.
Pose RRT::qRand | ( | ) | [inline, inherited] |
Gets the _qRand parameter.
Pose RRT::qStart | ( | ) | [inline, inherited] |
Gets the _qStart parameter.
Ellipse RRTnode::right | ( | ) | [inline, inherited] |
Gets the _right parameter.
RRT::RRT | ( | const RRT & | rrt | ) | [inline, inherited] |
Copy constructor.
RRT::RRT | ( | RRTparams | params, | |
Pose | qStart, | |||
Pose | qGoal, | |||
ExplorationNode * | expNode | |||
) | [inline, inherited] |
Paramtric consturctor.
RRT::RRT | ( | RRTparams | params | ) | [inline, inherited] |
RRT::RRT | ( | ) | [inline, inherited] |
Default consturctor.
RRTnode::RRTnode | ( | const RRTnode & | n | ) | [inline, inherited] |
Copy constructor.
RRTnode::RRTnode | ( | int | maxIter | ) | [inline, inherited] |
RRTnode::RRTnode | ( | int | ID, | |
Pose | q, | |||
int | maxIter | |||
) | [inline, inherited] |
RRTnode::RRTnode | ( | ) | [inline, inherited] |
RRTparams::RRTparams | ( | const RRTparams & | params | ) | [inline, inherited] |
Copy constructor.
RRTparams::RRTparams | ( | int | maxIterations, | |
Decimal | delta, | |||
Decimal | threshold, | |||
Decimal | probBiasedExpansion | |||
) | [inline, inherited] |
Parametric Constructor.
RRTparams::RRTparams | ( | ) | [inline, inherited] |
Default Constructor.
void RRTnode::setCell | ( | Cell * | value | ) | [inline, inherited] |
Sets the _cell parameter.
void RRTnode::setCSpaceDist | ( | Decimal | value | ) | [inline, inherited] |
Sets the _CSpaceDist parameter.
void RRTparams::setDeltaT | ( | Decimal | value | ) | [inline, inherited] |
Sets the _deltaT parameter.
void RRTnode::setEdgeType | ( | int | value | ) | [inline, inherited] |
Sets the _edgeType parameter.
void RRT::setExpNode | ( | ExplorationNode * | value | ) | [inline, inherited] |
Sets the _grid parameter.
void RRTnode::setFreePrimitives | ( | vector< int > | value | ) | [inline, inherited] |
Sets the _freePrimitives parameter.
void RRTnode::setFreePrimitivesNum | ( | int | value | ) | [inline, inherited] |
Sets the _freePrimitivesNum parameter.
void RRTnode::setID | ( | int | value | ) | [inline, inherited] |
Sets the _ID parameter.
void RRTnode::setLeft | ( | Ellipse | value | ) | [inline, inherited] |
Sets the _left parameter.
void RRTparams::setMaxIterations | ( | int | value | ) | [inline, inherited] |
Sets the _maxIterations parameter.
void RRTparams::setMotionPrimitives | ( | vector< VelVec > | value | ) | [inline, inherited] |
Sets the _motionPrimitives parameter.
void RRT::setParams | ( | RRTparams | value | ) | [inline, inherited] |
Sets the _params parameter.
void RRTnode::setParentID | ( | int | value | ) | [inline, inherited] |
Sets the _parentID parameter.
void RRTparams::setProbBiasedExpansion | ( | Decimal | value | ) | [inline, inherited] |
Sets the _probBiasedExpansion parameter.
void RRTnode::setQ | ( | Pose | value | ) | [inline, inherited] |
Sets the _q parameter.
void RRT::setQGoal | ( | Pose | value | ) | [inline, inherited] |
Sets the _qGoal parameter.
void RRT::setQRand | ( | Pose | value | ) | [inline, inherited] |
Sets the _qRand parameter.
void RRT::setQStart | ( | Pose | value | ) | [inline, inherited] |
Sets the _qStart parameter.
void RRTnode::setRight | ( | Ellipse | value | ) | [inline, inherited] |
Sets the _right parameter.
void RRTnode::setStraight | ( | Segment | value | ) | [inline, inherited] |
Sets the _straight parameter.
void RRTparams::setThreshold | ( | Decimal | value | ) | [inline, inherited] |
Sets the _threshold parameter.
Segment RRTnode::straight | ( | ) | [inline, inherited] |
Gets the _straight parameter.
Decimal RRTparams::threshold | ( | ) | [inline, inherited] |
Gets the _threshold parameter.
void RRT::update | ( | ) | [inherited] |
Cell* RRTnode::_cell [inherited] |
Decimal RRTnode::_CSpaceDist [inherited] |
int RRTnode::_edgeType [inherited] |
ExplorationNode* RRT::_expNode [inherited] |
vector<int> RRTnode::_freePrimitives [inherited] |
int RRTnode::_freePrimitivesNum [inherited] |
Cell* RRT::_goalCell [inherited] |
Ellipse RRTnode::_left [inherited] |
int RRT::_nearest [inherited] |
Pose RRT::_nearestPose [inherited] |
int RRTnode::_parentID [inherited] |
vector<int> RRT::_pathNodes [inherited] |
Pose RRTnode::_q [inherited] |
Pose RRT::_qGoal [inherited] |
Pose RRT::_qNear [inherited] |
Pose RRT::_qRand [inherited] |
Pose RRT::_qStart [inherited] |
Ellipse RRTnode::_right [inherited] |
vector<int> RRT::_sortedByDistance [inherited] |
Segment RRTnode::_straight [inherited] |
RRTnode RRT::_tempNode [inherited] |
vector<RRTnode> RRT::_tree [inherited] |
Decimal RRT::lenght [inherited] |
const char* PathPlannersNames[PATH_PLANNERS_NUM] [static] |
const char* PrimitivesNames[PRIMITIVES_NUM] [static] |
Decimal RRT::radius [inherited] |
const char* RRTstateNames[STATE_NUM] [static] |
Initial value:
{ "Find qRand", "Find qNear", "Find qNew", "Collision check", "Update", "Goal reached", "Find Path", "Search Complete" }
int RRT::selPrim [inherited] |
Timer RRT::timer [inherited] |