Inheritance diagram for TreePlanner:

Public Member Functions
	TreePlanner (Robot R, Graph G)
	Constructor.

	~TreePlanner ()
	Destructor.

virtual unsigned	init ()
	Initializes Planner.

virtual bool	checkStopConditions ()
	Check the stopping conditions of the Tree Planner. More...

virtual bool	preConditions ()
	Checks out the Pre-conditions. More...

virtual bool	connectNodeToComp (Node N, Node CompNode)
	Tries to connect a node to the other connected component of the graph. More...

virtual bool	connectionToTheOtherCompco (Node *toNode)
	Main function to connect to the other Connected Component. More...

virtual unsigned int	expandOneStep (Node *fromComp)
	Expands tree from component fromComp. More...

virtual unsigned int	run ()
	Main function of the Tree process. More...

bool	goalBias () const
	Decide whether the goal bias should be applied, based on a random trial. More...

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

int	getRunId ()
	Get the run Id.

void	setRunId (int id)
	Set the run Id.

unsigned int	getNumberOfConsecutiveFail ()
	Return the number of consecutive failures observed during planification.

unsigned int	getNumberOfExpansion ()
	Return the number of expansions performed during planification.

unsigned int	getNumberOfFailedExpansion ()
	Return the number of expansion that failed during planification.

unsigned int	getNumberOfInitialNodes ()
	Return the initial number of nodes.

Node *	getLastNode ()
	Return the last node added to the graph.

double	getDistanceGap ()

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.

virtual bool	trajFound ()
	test de trajectoire More...

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 ()

virtual API::Trajectory *	extractTrajectory ()

Protected Attributes
int	m_runId

unsigned int	m_nbConscutiveFailures

unsigned int	m_nbExpansion

unsigned int	m_nbFailedExpansion

unsigned int	m_nbInitNodes

double	m_DistanceGap

Node *	m_last_node

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

Member Function Documentation

bool TreePlanner::checkStopConditions ( )

virtual

Check the stopping conditions of the Tree Planner.

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

Reimplemented in RRT, StarRRT, DirectedRRT, and ThresholdPlanner.

bool TreePlanner::connectionToTheOtherCompco ( Node * toNode )

virtual

Main function to connect to the other Connected Component.

Main function to connect to the other component.

bool TreePlanner::connectNodeToComp	(	Node *	N,
		Node *	CompNode
	)

virtual

Tries to connect a node to the other connected component of the graph.

Tries to connect one node from one component to the other.

Parameters

currentNode	The node that will be connected
ComNode	The Connected Component

virtual unsigned int TreePlanner::expandOneStep ( Node * fromComp )

inlinevirtual

Expands tree from component fromComp.

Parameters

fromComp the starting connex component

Returns: the number of node created

Reimplemented in TransitionEdgeRRT, and EST.

double TreePlanner::getTime ( )

Return time in algorithm: this function must be called after ChronoTimeOfDayOn()

Time of day chrono.

bool TreePlanner::goalBias ( ) const

Decide whether the goal bias should be applied, based on a random trial.

Returns: TRUE if the goal bias is applied, and FALSE otherwise

bool TreePlanner::preConditions ( )

virtual

Checks out the Pre-conditions.

Checks out that the plannification problem fits such requirement.

start and goal are not in collision
start and goal are different configurations

unsigned int TreePlanner::run ( )

virtual

Main function of the Tree process.

Main Function of the Tree Planner, Bi-Directionality is handled here.

Returns: the number of Nodes added to the Graph

Implements Planner.

Reimplemented in RRT, ThresholdPlanner, DirectedRRT, and MultiRRT.

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

src/planner/Diffusion/TreePlanner.hpp
src/planner/Diffusion/TreePlanner.cpp

Public Member Functions

Protected Attributes

Member Function Documentation