The expansion class holds the method and local variables allowing to expand a Tree in a given configuration space methods such as chose a direction, check the validity in that direction and add nodes to the tree. More...

#include <BaseExpansion.hpp>

Inheritance diagram for BaseExpansion:

Public Member Functions
	BaseExpansion ()
	Constructor.

	BaseExpansion (Graph *prtGraph)

	~BaseExpansion ()
	Destructor.

void	setGraph (Graph *G)
	Set the graph that is beeing expanded.

Graph *	getGraph ()
	Get the graph that is beeing expanded.

int	getDirectionMethod ()
	Get Node Expansion Method.

void	setDirectionMethod (int directionExpansion)
	Set Expansion node Method.

int	getNodeMethod ()
	Get Node Expansion Method.

void	setNodeMethod (int nodeExpansion)
	Set Expansion node Method.

void	setFromComp (Node *fromComp)
	Set the From Connected Component.

Node *	getFromComp ()
	Get the From Connected Component.

void	setToComp (Node *toComp)
	Set the To Connected Component.

Node *	getToComp ()
	Get the To Connected Component.

double	step ()
	Expansion Step (Delta) More...

double	getDMax ()

double	computeInterpolationFactor (double pathLength)
	Compute the interpolation factor along the path, based on the extension step.

confPtr_t	interpolate (confPtr_t conf, LocalPath *path, double factor)
	Interpolation along the given path.

double	positionAlongPath (LocalPath &path, double param)
	Position on localpath in [0,1].

double	pathDelta (LocalPath &path)
	Return the path parameter that is the closest to step()

LocalPath	getExtensiontPath (std::tr1::shared_ptr< Configuration > qi, std::tr1::shared_ptr< Configuration > qf)
	Computes a localpath parameter used for expansion of at max step() of length. More...

void	expansionFailed (Node &node)
	Function called when a node can not be connected. More...

virtual Node *	addNode (Node currentNode, LocalPath &path, double pathDelta, Node directionNode, unsigned &nbCreatedNodes)
	Adds a node to a connected component. More...

bool	refinementControl (LocalPath &path, double rho, Node &compNode)
	Function that balances the ratio of exploration towards refinement.

bool	nextStep (LocalPath &path, std::tr1::shared_ptr< Configuration > &directionConfig, double &pathDelta, std::tr1::shared_ptr< LocalPath > &newPath, Env::expansionMethod method)
	Returns a valid configuration on the local path.

bool	nextStep (LocalPath &path, Node *directionNode, double &pathDelta, std::tr1::shared_ptr< LocalPath > &newPath, Env::expansionMethod method)
	Returns a valid configuration on the local path.

virtual Node *	getExpansionNode (Node *compNode, confPtr_t direction, int distance)
	Gets the nearest node in the graph. More...

std::tr1::shared_ptr < Configuration >	getExpansionDirection (Node expandComp, Node goalComp, bool samplePassive, Node *&directionNode)

Node *	getLasAddedNode ()
	Return last added node.

void	addConnectibleNode ()

unsigned int	getNbConnectibleNodes ()

Protected Attributes
int	m_ExpansionNodeMethod

int	m_MaxExpandNodeFailure

int	m_kNearestPercent

int	m_ExpansionDirectionMethod

bool	m_IsDirSampleWithRlg

Graph *	m_Graph

Node *	m_last_added_node

Node *	m_fromComp

Node *	m_toComp

unsigned int	_nbConnectibleNodes

Detailed Description

The expansion class holds the method and local variables allowing to expand a Tree in a given configuration space methods such as chose a direction, check the validity in that direction and add nodes to the tree.

Member Function Documentation

Node * BaseExpansion::addNode	(	Node *	currentNode,
		LocalPath &	path,
		double	pathDelta,
		Node *	directionNode,
		unsigned &	nbCreatedNodes
	)

virtual

Adds a node to a connected component.

Function that adds a node to the graph.

Reimplemented in HRICS_rrtExpansion, and HRICS_rrtPlanExpansion.

void BaseExpansion::expansionFailed ( Node & node )

Function called when a node can not be connected.

Function called when an expansion fails.

Parameters

the	node which has not been connected

Node * BaseExpansion::getExpansionNode	(	Node *	compNode,
		confPtr_t	direction,
		int	distance
	)

virtual

Gets the nearest node in the graph.

Parameters

compNode	Expanding component
direction	Direction of expansion
Sampling	passive mode

LocalPath BaseExpansion::getExtensiontPath	(	std::tr1::shared_ptr< Configuration >	qi,
		std::tr1::shared_ptr< Configuration >	qf
	)

Computes a localpath parameter used for expansion of at max step() of length.

Returns the localpath of length equal or inferior to step.

double BaseExpansion::step ( )

Expansion Step (Delta)

Returns a distance define by the environement.

The documentation for this class was generated from the following files:

src/planner/Diffusion/Variants/BaseExpansion.hpp
src/planner/Diffusion/Variants/BaseExpansion.cpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation