Inheritance diagram for PerturbationRoadmap:

Public Member Functions
	PerturbationRoadmap (Robot R, Graph G)
	Creates a perturbation roadmap from a given robot and a given graph More...

	~PerturbationRoadmap ()
	Deletes a perturbation planner.

virtual unsigned	init ()
	initialize the Planner More...

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

	~PRM ()
	Destructor.

int	getNumberOfExpansion () const

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

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

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 Member Functions
void	getTranslationBounds ()
	Compute the translation bounds of the robot.

void	addTrajectory (const API::Trajectory &T)
	Adds a trajectory.

bool	testPerturb (confPtr_t q_new, std::vector< Node * > &vect_conf)
	Test if the perturbation is valid.

bool	findBestCycle (confPtr_t q_new, double dist, std::vector< Node * > &vect_conf)
	Find the best cycle in the graph. More...

bool	addPerturbation (confPtr_t q_rand)
	Add a perturbation to the graph.

bool	expandPerturbation (confPtr_t q_rand)

confPtr_t	trajShootConfiguration ()
	Get the expansion direction.

confPtr_t	getExpansionConfiguration (bool sample_on_traj)
	Get the expansion direction.

Node *	getClosestOnTraj (confPtr_t q_rand)
	Get colest on traj.

double	distToTraj (confPtr_t q_rand)
	Get colest on traj.

virtual void	expandOneStep ()
	Adds nodes to Graph.

Additional Inherited Members
Protected Attributes inherited from PRM
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

Constructor & Destructor Documentation

PerturbationRoadmap::PerturbationRoadmap	(	Robot *	R,
		Graph *	G
	)

  Creates a perturbation roadmap from a given robot

and a given graph

Parameters

Robot
Graph

Member Function Documentation

bool PerturbationRoadmap::findBestCycle	(	confPtr_t	q_new,
		double	dist,
		std::vector< Node * > &	vect_conf
	)

protected

Find the best cycle in the graph.

Find the best cycle in the graph the best cycle is composed of two nodes that are at a distance close to dist and that maximise path length in the graph.

unsigned PerturbationRoadmap::init ( void )

virtual

initialize the Planner

Returns: le number of nodes added to the graph

Reimplemented from PRM.

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

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation