The CostMapPlot class samples the configuration space on a few DoF to plot a costmap. More...

Public Member Functions
	CostMapPlot (const std::string &name)

void	start ()

void	plotCurrentTraj ()
	plot the cost of the trajcetory projected into the selected DoFs

void	addDof (Robot r, Joint j, int dof_index, double min=-std::numeric_limits< double >::infinity(), double max=std::numeric_limits< double >::infinity(), double step=0)

double	firstSample (std::vector< double > &dof_values)
	firstSample move joints to the initial position for the sampling and compute cost More...

double	nextSample (std::vector< double > &dof_values)
	nextSample move joints to next sample position More...

double	moveJointNextSample (unsigned int i, bool &reached_extreme)
	moveJointNextSample More...

double	getDofValue (unsigned int i)

void	updateRobots ()

void	saveRobotConfs ()

void	restoreRobotConfs ()

unsigned int	defaultSampleNbPerJnt () const

void	setDefaultSampleNbPerJnt (unsigned int defaultSampleNbPerJnt)

void	setAndUpdateJointDof (Joint *j, int dof, double val)

Static Public Member Functions
static void	test1 ()

static void	test2 ()

Detailed Description

The CostMapPlot class samples the configuration space on a few DoF to plot a costmap.

Member Function Documentation

double CostMapPlot::firstSample ( std::vector< double > & dof_values )

firstSample move joints to the initial position for the sampling and compute cost

Parameters

[out] dof_values the DoF values after the initialisation (position)

double CostMapPlot::moveJointNextSample	(	unsigned int	i,
		bool &	reached_extreme
	)

moveJointNextSample

Parameters

	i	index of the DoF
[out]	reached_extreme	true when this dof has reached its min/max value, and been reset to its max/min value, resp.

double CostMapPlot::nextSample ( std::vector< double > & dof_values )

nextSample move joints to next sample position

Parameters

[out] dof_values the DoF values after the initialisation (position)

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