/home/slemaign/softs-local/BioMove3D-git/planner/p3d_elastic.c File Reference

elastic strips optimization More...

#include "Util-pkg.h"
#include "P3d-pkg.h"
#include "Collision-pkg.h"
#include "Localpath-pkg.h"
#include "Planner-pkg.h"

Functions
int	p3d_trackCurrentTraj (p3d_rob *rob, int Nend, double epsilon, double d0, int Quick)
	deform current trajectory of a robot
void	p3d_gradientDescentOptimize (p3d_traj *traj, double tend, double epsilon, double d0, int Quick, int(*fct_stop)(void), void(*fct_draw)(void))
	optimize a trajectory with a gradient descent method
void	p3d_clearTraj (p3d_traj *traj, double tend, int(*fct_stop)(void))
	clear a trajectory by deleting useless strippoints

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Detailed Description

elastic strips optimization

Author:

E.Ferre

Date:

Aug 2001

Set of functions for elastic band optimization and tracjectory tracking

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Function Documentation

void p3d_clearTraj	(	p3d_traj *	traj,
		double	tend,
		int(*)(void)	fct_stop
	)

clear a trajectory by deleting useless strippoints

Parameters:

traj	the trajectory
tend	maximum time of the optimization (tend=0 means tend=infini)
fct_stop	if fct_stop returns FALSE, optimization is stopped

void p3d_gradientDescentOptimize	(	p3d_traj *	traj,
		double	tend,
		double	epsilon,
		double	d0,
		int	Quick,
		int(*)(void)	fct_stop,
		void(*)(void)	fct_draw
	)

optimize a trajectory with a gradient descent method

Parameters:

traj	the trajectory
tend	maximum time of the optimization (tend=0 means tend=infini)
epsilon	if the gain between two interations if less than epsilon, optimization is stopped
d0	contact distance of the obstacles. the strippoints should not be closer than d0.
Quick	if TRUE, quickdescent algorithm is applied as gradient descent else projected gradient descent is applied.
fct_stop	if fct_stop returns FALSE, optimization is stopped
fct_draw	function drawing the trajectory at the end of an iteration

The trajectory is deformed by altering each of strippoints in turn. To change a strippoint, a gradient descent method is applied. If one of local path linking this strippoint is not valid, the strippoint is not change and a strippoint is inserted on the old local path.

See also:

TrajTrack()

int p3d_trackCurrentTraj	(	p3d_rob *	rob,
		int	Nend,
		double	epsilon,
		double	d0,
		int	Quick
	)

deform current trajectory of a robot

It the same algorithm than gradientDescentOptimize(), but it must be used for a very short time (Nend=3) because there is no strip cleaning during the optimization. the random optimization is called at the end to try to break the strip.

Parameters:

rob	the robot
Nend	maximum number of iterations
epsilon	if the gain between two steps is less than epsilon, optimization is stopped
d0	contact distance of the obstacles. the strippoints should not be closer than d0.
Quick	if TRUE, quickdescent algorithm is applied as gradient descent else projected gradient descent is applied.

Warning:

current trajectory must be collision free

See also:

gradientDescentOptimize()