Class thats holding the CostSpace. More...

#include <cost_space.hpp>

Public Member Functions
std::string	getSelectedCostName ()

std::vector< std::string >	getAllCost ()

boost::function< double(Configuration &)>	getCostFunction (std::string name)

boost::function< double(std::vector < LocalPath * > &)>	getCostFunctionTrajectories (std::string name)

bool	setCost (std::string name)

bool	setCostTraj (std::string name)

void	addCost (std::string name, boost::function< double(Configuration &)> f)

void	addCostTrajectories (std::string name, boost::function< double(std::vector< LocalPath * > &)> f)

void	deleteCost (std::string name)

void	deleteCostTraj (std::string name)

double	cost (Configuration &conf)

double	cost (LocalPath *path)

double	cost (std::vector< LocalPath * >::iterator first, std::vector< LocalPath * >::iterator last)

double	cost (std::vector< LocalPath * > &path)

double	costAggregationOverTraj (std::vector< LocalPath * > &path)

double	costAggregationOverTraj (std::vector< LocalPath * >::iterator first, std::vector< LocalPath * >::iterator last)

double	cost (LocalPath &path, int &nb_test)

void	setNodeCost (Node node, Node parent)

void	initMotionPlanning (graph graph, node start, node *goal)

void	setDistanceMethod (CostSpaceResolutionMethod method)

void	setDeltaStepMethod (CostSpaceDeltaStepMethod method)

CostSpaceDeltaStepMethod	getDeltaStepMethod ()

double	deltaStepCost (double cost1, double cost2, double length)
	ComputeDeltaStepCost Compute the cost of a portion of path.

double	edgeCost (confPtr_t from, confPtr_t to)

double	edgeCost (LocalPath lp)

double	compositeCost (Configuration &conf)

void	setCompositeCostFactor (std::string func, double factor)

double	getCompositeCostFactor (std::string func)

doubleContainer *	getCompositeCostFactorObject (std::string func)

void	initCompositeCostFactors ()

void	setCompositeSumFunction (std::string f)

std::vector< std::string >	getCompositeSumFunctions (void)

std::string	getCompositeSumFunction ()

double	startGoalDist_ratio () const

void	setStartGoalDist_ratio (double startGoalDist_ratio)

double	startGoalDist_power () const

void	setStartGoalDist_power (double startGoalDist_power)

void	initializeFlyCraneCostSpace ()
	Initialize the FlyCrane cost space.

Eigen::Matrix3d	RotationMatrix (double orientation[])
	Compute the rotation matrix of a given vector of angles. More...

void	computeQuadAnchorPoints (Configuration *conf)
	Compute the coordinates (in the global reference frame) of the anchor points, Aij, of the quadrotors and fill the corresponding attributes in the given configuration.

double	flyCraneCost (Configuration *conf)
	Cost function involving the tensions exerted on the cables and the quadrotor thrusts.

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Member Functions
void	getPr2ArmConfiguration (Eigen::VectorXd &x, confPtr_t q)

double	getPr2ArmDistance (Robot *robot, Eigen::VectorXd &q_i, Eigen::VectorXd &q_f)

Protected Attributes
std::string	mSelectedCostName

boost::function< double(Configuration &)>	mSelectedCost

std::map< std::string, boost::function< double(Configuration &)> >	mFunctions

std::string	mSelectedCostTrajectoriesName

boost::function< double(std::vector < LocalPath * > &)>	mSelectedFunctionsTrajectories

std::map< std::string, boost::function< double(std::vector < LocalPath * > &)> >	mFunctionsTrajectories

Detailed Description

Class thats holding the CostSpace.

Member Function Documentation

Eigen::Matrix3d CostSpace::RotationMatrix ( double orientation[] )

Compute the rotation matrix of a given vector of angles.

(This function is useful mainly to keep track of the Euler convention used here.)

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

src/planner/cost_space.hpp
src/planner/cost_space.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation