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libmove3d-planners
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libmove3d-planners
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Public Member Functions | |
| Trajectory (Robot *R) | |
| Trajectory (Robot *R, traj *t) | |
| Trajectory (std::vector< confPtr_t > &C) | |
| Trajectory (const Trajectory &T) | |
| Trajectory & | operator= (const Trajectory &t) |
| bool | operator== (const Trajectory &t) const |
| bool | operator!= (const Trajectory &t) const |
| void | copyPaths (std::vector< LocalPath * > &vect) |
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std::vector < std::tr1::shared_ptr < Configuration > > | getTowConfigurationAtParam (double param1, double param2, uint &lp1, uint &lp2) |
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std::pair< bool, std::vector < LocalPath * > > | extractSubPortion (double param1, double param2, unsigned int &first, unsigned int &last, bool check_for_coll=true) |
| Trajectory | extractSubTrajectoryOfLocalPaths (unsigned int id_start, unsigned int id_end) |
| Extract sub trajectory. More... | |
| Trajectory | extractSubTrajectory (double param1, double param2, bool check_for_coll=true) |
| bool | concat (const Trajectory &traj) |
| bool | replacePortionOfLocalPaths (unsigned int id1, unsigned int id2, std::vector< LocalPath * > paths, bool freeMemory=true) |
| bool | replacePortion (double param1, double param2, std::vector< LocalPath * > paths, bool freeMemory=true) |
| bool | replaceBegin (double param, const std::vector< LocalPath * > &paths) |
| bool | replaceEnd (double param, const std::vector< LocalPath * > &paths) |
| bool | cutTrajInSmallLP (unsigned int nLP) |
| bool | cutTrajInSmallLPSimple (unsigned int nLP) |
| uint | cutPortionInSmallLP (std::vector< LocalPath * > &portion, uint nLP) |
| void | push_back (confPtr_t q) |
| bool | push_back (std::tr1::shared_ptr< LocalPath > path) |
| double | collisionCost () |
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std::vector< std::pair< double, double > > | getCostProfile () |
| double | computeSubPortionIntergralCost (std::vector< LocalPath * > &portion) |
| double | computeSubPortionCost (std::vector< LocalPath * > &portion) |
| double | computeSubPortionCost (std::vector< LocalPath * >::iterator first, std::vector< LocalPath * >::iterator last) |
| double | computeSubPortionMaxCost (std::vector< LocalPath * > &portion) |
| double | ReComputeSubPortionCost (std::vector< LocalPath * > &portion, int &nb_cost_tests) |
| double | computeSubPortionCostVisib (std::vector< LocalPath * > &portion) |
| double | costOfPortion (double param1, double param2) |
| double | extractCostPortion (double param1, double param2) |
| double | cost () |
| double | computeCostComplete () |
| double | costComplete () |
| double | costNoRecompute () |
| double | costRecomputed () |
| double | costStatistics (TrajectoryStatistics &stat) |
| double | costDeltaAlongTraj () |
| double | costNPoints (const int n_points) |
| double | costSum () |
| std::vector< double > | getCostAlongTrajectory (int nbSample) |
| void | resetCostComputed () |
| bool | isEmpty () |
| void | clear () |
| confPtr_t | operator[] (const int &i) const |
| confPtr_t | configAtParam (double param, unsigned int *id_localpath=NULL) const |
| double | paramAtConfig (confPtr_t config, double step=-1) const |
| LocalPath * | getLocalPathPtrOf (confPtr_t conf) const |
| double | distanceToTraj (confPtr_t config, double step=-1) |
| std::vector< confPtr_t > | getNConfAtParam (double delta) |
| std::vector< confPtr_t > | getVectorOfConfiguration () |
| uint | getIdOfPathAt (double param) |
| LocalPath * | getLocalPathPtrAt (unsigned int id) const |
| int | getNbOfPaths () const |
| int | getNbOfViaPoints () const |
| bool | isValid () |
| void | resetIsValid () |
| void | updateRange () |
| double | computeSubPortionRange (const std::vector< LocalPath * > &portion) const |
| bool | replaceP3dTraj () |
| p3d_traj * | replaceP3dTraj (p3d_traj *trajPt) |
| p3d_traj * | replaceHumanP3dTraj (Robot *rob, p3d_traj *trajPt) |
| void | printAllLocalpathCost () |
| void | draw (int nbKeyFrame) |
| void | print () |
| int | meanCollTest () |
| bool | makeBSplineTrajectory () |
| void | setColor (int col) |
| unsigned int | getHighestCostId () const |
| Robot * | getRobot () const |
| int | size () const |
| confPtr_t | getBegin () const |
| confPtr_t | getEnd () const |
| std::vector< LocalPath * > | getCourbe () const |
| std::vector< LocalPath * > & | getCourbe () |
| double | getRangeMax () const |
Protected Attributes | |
| Robot * | m_Robot |
| unsigned int | HighestCostId |
| bool | isHighestCostIdSet |
| Trajectory Trajectory::extractSubTrajectoryOfLocalPaths | ( | unsigned int | id_start, |
| unsigned int | id_end | ||
| ) |
Extract sub trajectory.
| start | is the id of the first localpath |
| end | is the id of the last localpath |
1.8.6