Public Member Functions
	HumanCostSpace (Robot rob, std::vector< Robot > humans, Natural *costspace, double cellSize)
	Initialize tge Human cost space with the list of human in the scene. More...

	~HumanCostSpace ()
	Destructor of the costspace all grids are deleted.

Robot *	getRobot ()

void	reSetPlanningType ()

double	getCost (Configuration &q)
	Cost computation for a given configuration. More...

double	getCostMax (Configuration &q)
	as getCost but it is maximum of joint costs instead of sum More...

double	getCompleteCost (Configuration &q, std::vector< double > &cost_sum)
	Complete cost of configuration. More...

double	getPointCost (Configuration &q)
	Returns the HRI cost of the point that on the first joint of the configuration.

double	computeBodiesDistanceCost (Configuration &q)

bool	getHandoverPointList (std::vector< Eigen::Vector3d > &points, bool recompute_cells, int arm_type)
	Returns a vector of reachable points for object handovers the vector is sorted relativly to the HRI constraints 0:noarm, 1:right, 2l:eft.

void	computeAllCellCost ()
	(Re) compute the cell cost of all grids

void	testCostFunction ()
	This function tests how many configuration test can be done The test uses a real time chrono.

void	loadAgentGrids (const std::string &filename)

void	saveAgentGrids ()

void	drawDistances ()

void	drawReachableGrid ()

AgentGrid *	getAgentGrid (Robot *agent)

Constructor & Destructor Documentation

HumanCostSpace::HumanCostSpace	(	Robot *	rob,
		std::vector< Robot * >	humans,
		Natural *	costspace,
		double	cellSize
	)

Initialize tge Human cost space with the list of human in the scene.

Parameters

The	robot, to which this costspace is for
The	humans, which will be associated to the costspace
costspace,the	natural space which is associated to a human
The	cell size, each human will be associated a grid (the cell size is the resolution of the grid)

Member Function Documentation

double HumanCostSpace::getCompleteCost	(	Configuration &	q,
		std::vector< double > &	cost_sum
	)

Complete cost of configuration.

Parameters

Configuration of the robot

double HumanCostSpace::getCost ( Configuration & q )

Cost computation for a given configuration.

Parameters

A	robot configuration Sums the cost of each each joint point The class maintains a vector of joint pointer that are used in the cost computation

double HumanCostSpace::getCostMax ( Configuration & q )

as getCost but it is maximum of joint costs instead of sum

Parameters

q

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