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libmove3d-planners
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libmove3d-planners
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#include <HRICS_EnvGrid.hpp>
Public Member Functions | |
| EnvGrid (double pace, std::vector< double > envSize, bool isHumanCentered) | |
| EnvGrid (double pace, std::vector< double > envSize, bool isHumanCentered, Robot *robot, Robot *human) | |
| void | setRobot (Robot *R) |
| Robot * | getRobot () |
| void | setHuman (Robot *R) |
| Robot * | getHuman () |
| Robot * | getHumanCylinder () |
| Robot * | getRobotCylinder () |
| double | getNbCellX () |
| double | getNbCellY () |
| double | getHumanMaxDist () |
| double | getRobotMaxDist () |
| void | setAsNotSorted () |
| std::vector< EnvCell * > | getHumanAccessibleCells () |
| void | dumpVar () |
| void | init (std::pair< double, double > minMax) |
| initialisation of the grid ( computing distances and taking obstacle into account) | |
| void | initGrid (Eigen::Vector3d humanPos) |
| initialising the part of the grid needed for fused grid use | |
| void | recomputeGridWhenHumanMove (Eigen::Vector3d humanPos) |
| recompute the grid cost if human move | |
| void | computeHumanRobotReacheability (std::pair< double, double > minMax) |
| Compute the crown arround the human for reacheability. | |
| API::TwoDCell * | createNewCell (unsigned int index, unsigned int x, unsigned int y) |
| Virtual function that creates a new Cell. More... | |
| void | computeDistances (EnvCell *cell, bool isHuman) |
| using the method of distance propagation to compute distances | |
| void | computeRobotDistances (EnvCell *cell) |
| using the method of distance propagation to compute distances for robot | |
| void | computeHumanDistances (EnvCell *cell) |
| using the method of distance propagation to compute distances for human | |
| void | draw () |
| drawing the grid | |
| void | setCellsToblankCost () |
| call setBlankCost() in each cell | |
| void | initAllCellState () |
| call resetexplorationstatus() in each cell | |
| void | initAllTrajs () |
| call resetTrajs() in each cell | |
| void | initAllReachability () |
| call resetexplorationstatus() in each cell | |
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std::vector< std::pair< double, EnvCell * > > | getSortedGrid () |
| sort the cells of the grid | |
 Public Member Functions inherited from API::TwoDGrid | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | TwoDGrid () |
| Constructor. More... | |
| TwoDGrid (Eigen::Vector2i size, std::vector< double > envSize) | |
| TwoDGrid (double samplingRate, std::vector< double > envSize) | |
| ~TwoDGrid () | |
| Destructor. | |
| void | createAllCells () |
| Creates All Cells. More... | |
| Eigen::Vector2d | getCellSize () |
| TwoDCell * | getCell (const Eigen::Vector2i &cell) |
| TwoDCell * | getCell (int x, int y) |
| Retruns the Cell at (x,y) More... | |
| TwoDCell * | getCell (Eigen::Vector2d pos) |
| TwoDCell * | getCell (double *pos) |
| Get Cell in 3D ThreeDGrid. More... | |
| TwoDCell * | getCell (unsigned int index) |
| Get Cell. More... | |
| bool | isCellCoordInGrid (const Eigen::Vector2i &coord) |
| Is a Coord inside the Grid (used to debug) More... | |
| Eigen::Vector2i | getCellCoord (TwoDCell *ptrCell) |
| Get place in grid. More... | |
| int | getNumberOfCells () |
| Get Number Of Cells. | |
| TwoDCell * | getNeighbour (const Eigen::Vector2i &pos, int i) |
| Get Neighboor Cell. | |
| Eigen::Vector2d | getCoordinates (TwoDCell *cell) |
| Retrive the X Y Z coordinate of the cell from its index. | |
| Public Member Functions inherited from API::BaseGrid | |
| BaseGrid (const BaseGrid &grid) | |
| BaseCell * | getCell (unsigned int i) |
| Get Cell. More... | |
| unsigned int | getNumberOfCells () |
| Get Number Of Cells. | |
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virtual std::vector < Eigen::Vector3d > | getBox () |
| virtual bool | writeToXmlFile (std::string file) |
| Virtual function for creating an xml document. | |
| virtual bool | loadFromXmlFile (std::string file) |
| Virtual function for reading from an xml document. | |
| std::string | getName () |
Additional Inherited Members | |
| Protected Member Functions inherited from API::TwoDGrid | |
| Eigen::Vector2d | computeCellCorner (int x, int y) |
| Computes the corner of a cell. More... | |
| Protected Attributes inherited from API::TwoDGrid | |
| Eigen::Vector2d | _originCorner |
| Eigen::Vector2d | _cellSize |
| unsigned int | _nbCellsX |
| unsigned int | _nbCellsY |
| Protected Attributes inherited from API::BaseGrid | |
| std::vector< BaseCell * > | _cells |
| std::string | m_name |
Plannar HRI Grid.
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virtual |
Virtual function that creates a new Cell.
| integer | index |
| integer | x |
| integer | y |
| integer | z |
Reimplemented from API::TwoDGrid.
1.8.6