Classe représentant l'algorithme PRM. More...

#include <PRM.hpp>

Inheritance diagram for PRM:

Public Member Functions
	PRM (Robot robot, Graph graph)
	Constructor.

	~PRM ()
	Destructor.

int	getNumberOfExpansion () const

virtual unsigned	init ()
	Initialize the PRM. More...

bool	checkStopConditions ()
	Check the stopping conditions of PRM. More...

bool	preConditions ()
	Check the pre-conditions of PRM. More...

virtual void	expandOneStep ()
	Perform a single expansion step of PRM.

unsigned int	run ()
	Main function of the PRM. More...

bool	trajFound ()
	Check whether PRM has found a trajectory. More...

API::Trajectory *	extractTrajectory ()
	Extract a trajectory going through all the waypoints.

Public Member Functions inherited from Planner
	Planner ()
	Plain Constructor of the class.

	Planner (Robot rob, Graph graph)
	Constructor of the class. More...

virtual	~Planner ()
	Destructeur de la classe.

Robot *	getActivRobot ()
	retourne le Robot activ More...

void	setRobot (Robot *R)
	place le Robot utilisé pour la planification More...

Graph *	getActivGraph ()
	obtient le Graph actif pour la planification More...

void	setGraph (Graph *G)
	modifie le Graph actif pour la planification More...

bool	setInit (confPtr_t Cs)
	place le Node initial de la planification More...

bool	setGoal (confPtr_t Cg)
	place le Node final de la planification More...

Node *	getInit ()
	obtient le Node intial de la planification More...

Node *	getGoal ()
	obtient le Node final de la planification More...

confPtr_t	getInitConf ()
	Get init configuration.

confPtr_t	getGoalConf ()
	Get goal configuration.

bool	getInitialized ()
	test si le Planner est initialisé pour la planification More...

void	setInitialized (bool b)
	modifie la valeur du Booleen de test d'initialisation More...

int	getRunId ()
	Get the run Id.

void	setRunId (int id)
	Set the run Id.

double	getTime ()
	return time in algorithm this function must be called after ChronoTimeOfDayOn() More...

void	chronoStart ()

void	chronoStop ()

void	chronoUpdate ()

Protected Attributes
unsigned	m_nbAddedNode

int	m_nbConscutiveFailures

int	m_nbExpansions

std::vector< confPtr_t >	waypoints
	waypoints through which the solution path should go

std::vector< Node * >	waypointNodes
	nodes containing the waypoints

Protected Attributes inherited from Planner
int(*	_stop_func )()

void(*	_draw_func )()

confPtr_t	_q_start

confPtr_t	_q_goal

Node *	_Start
	Le Node initial de la planification.

Node *	_Goal
	Le Node final de la planification.

Robot *	_Robot
	Le Robot pour lequel la recherche va se faire.

Graph *	_Graph
	Le Graph qui va être utilisé

bool	_Init
	Le Planner a été initialisé

bool	m_fail

int	m_runId

double	m_time

Detailed Description

Classe représentant l'algorithme PRM.

Author: Florian Pilardeau,B90,6349 <fpilarde>

Member Function Documentation

bool PRM::checkStopConditions ( )

Check the stopping conditions of PRM.

Returns: TRUE if one of the conditions is satisfied, and FALSE otherwise

unsigned PRM::init ( void )

virtual

Initialize the PRM.

Returns: the number of nodes added to the graph

Reimplemented from Planner.

Reimplemented in PerturbationRoadmap.

bool PRM::preConditions ( )

Check the pre-conditions of PRM.

Returns: TRUE if one of the conditions is satisfied, and FALSE otherwise

unsigned int PRM::run ( )

virtual

Main function of the PRM.

Returns: the number of nodes added to the graph

Implements Planner.

bool PRM::trajFound ( )

virtual

Check whether PRM has found a trajectory.

Returns: TRUE if the criteria required for a trajectory to be found are met, and FALSE otherwise

Reimplemented from Planner.

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

src/planner/PRM/PRM.hpp
src/planner/PRM/PRM.cpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation