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libmove3d-planners
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libmove3d-planners
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#include <HRICS_old.hpp>
Public Member Functions | |
| Hri (double zone_size) | |
| void | setNodes (Node *fromComp, Node *toComp) |
| void | parseEnvForZone () |
| Add zones to Hri module. | |
| void | parseEnvHoleHuman () |
| Creates zone out of the Achile model. | |
| void | parseEnvBarre () |
| Creates zone out of the Bar model. | |
| void | parseEnv () |
| Main function to create zones. | |
| void | changeColor () |
| Changes color of the zone. | |
| void | offSetPrim (p3d_poly *poly, double offset) |
| Changes dynamically the size of the zone shown in the OpenGl display. | |
| void | computeMaxValues () |
| Intent to compute the interval of value in the CSpace that the robot goes through during specific planning. | |
| double | getHriDistCost (p3d_rob *robotPt, int disp) |
| p3d_GetMinDistCost Get the cost of a current configuration based More... | |
| double | getDistZone (int zone, int disp) |
| Computes the penetration distance. | |
| void | getDistBody (int disp) |
| Computes the penetration distance. | |
| void | getDistHoleHuman (int disp) |
| Computes the penetration distance. | |
| void * | beg_zone_hri (char *name) |
| Fonction commencant la description d'une zone hri (obstacle) p3d rattache a l'environnement courant, qui devient l'objet courant (au moins pour la description...) In : son nom, son type (obstacle, body) Out : | |
| p3d_obj * | getObjectByName (char *name) |
| p3d_GetObjectByName | |
| void | activateAll (int disp) |
| p3d_ActivateAll | |
| void | deactivateAllButHri (int disp) |
| p3d_DeactivateAllButHri More... | |
| void | deactivateHri (int disp) |
| p3d_DeactivateHris More... | |
| void | deactivateAllButHriAchile (int zone, int disp) |
| p3d_DeactivateHris | |
| void | activateAllAchile (int disp) |
| p3d_ActivateAll | |
| std::vector< double > & | getVectJim (void) |
| p3d_GetVectJim | |
| configPt | getGoalConfig (p3d_rob *robotPt) |
| Gives the goal configuration. More... | |
| double | getPeneTrajCost (graph *graphPt, traj *trajPt, double *minCostPt, double *maxCostPt, double *totalCostPt, int *nbConfigPt) |
| Gets the penetration cost along a trajectory. | |
| void | getDistToGoalCost (int disp) |
| Computes the distance to goal cost. | |
| void | getNaturalLookingCost (int disp) |
| Computes the natural looking cost of a robot configuration. | |
| void | getSafeZoneCost (int disp) |
| double | getCustomDistConfig (configPt q_i, configPt q_f) |
| Compute the classic square distance between two configurations with weight. More... | |
| void | saveGPlotCostTraj (int iteration) |
| p3d_SaveGPlotCostTraj More... | |
| void | saveGPlotCostNodeChro (void) |
| p3d_SaveGPlotCostNodeChro More... | |
| void | setCostToTab (p3d_rob *robotPt, confCost *tab, int nbPart) |
| Puts all costs in a tab for 2D environment. More... | |
| void | writeConfCostToCsv (confCost *tab, int size) |
| Writes Configuration Cost to CSV file format. | |
| void | writeConfCostToObPlane (confCost *tab, int size) |
| Write a Cost Tab to an ObPlane format, this output has to go through a script to be used as a Cost Map. | |
| void | costTabFormFunction (confCost *tab) |
| Creates a Tab Cost out of a function. | |
| double | costMapFunctions (double x, double y, int id_func) |
| Creates a simple 2D Cost tab. | |
Public Attributes | |
| p3d_rob * | Robot |
| p3d_rob * | Human |
Classe Hri.
| void Hri::deactivateAllButHri | ( | int | disp | ) |
p3d_DeactivateAllButHri
deactivate distance computation for KCD
| void Hri::deactivateHri | ( | int | disp | ) |
p3d_DeactivateHris
Deactevate distance computation for KCD
| double Hri::getCustomDistConfig | ( | configPt | q_i, |
| configPt | q_f | ||
| ) |
Compute the classic square distance between two configurations with weight.
Input: The robot, the two configurations
See : p3d_dist_config
| configPt Hri::getGoalConfig | ( | p3d_rob * | robotPt | ) |
Gives the goal configuration.
p3d_p3d_GetGoalConfig
| double Hri::getHriDistCost | ( | p3d_rob * | robotPt, |
| int | disp | ||
| ) |
p3d_GetMinDistCost Get the cost of a current configuration based
p3d_GetMinDistCost Get the cost of a current configuration based on its minimal distance to the obstacles.
This function is used for algorithm based on configuration spaces with cost functions
| void Hri::saveGPlotCostNodeChro | ( | void | ) |
p3d_SaveGPlotCostNodeChro
Save the costs of all nodes in the graph with an chronological order of appearance
| void Hri::saveGPlotCostTraj | ( | int | iteration | ) |
p3d_SaveGPlotCostTraj
Save the cost of configuration along the trajectory
| void Hri::setCostToTab | ( | p3d_rob * | robotPt, |
| confCost * | tab, | ||
| int | nbPart | ||
| ) |
Puts all costs in a tab for 2D environment.
Sets the cost inside a Table for 2D environments.
1.8.6