rl::plan::WorkspaceSphereExplorer Class Reference

Wavefront expansion. More...

#include <WorkspaceSphereExplorer.h>

Classes
struct	VertexBundle

Public Types
enum	Greedy { GREEDY_DISTANCE, GREEDY_SOURCE_DISTANCE, GREEDY_SPACE }

Public Member Functions
	WorkspaceSphereExplorer ()
virtual	~WorkspaceSphereExplorer ()
bool	explore ()
WorkspaceSphereList	getPath () const
bool	isCovered (const ::rl::math::Vector3 &point) const
void	reset ()
void	seed (const ::std::mt19937::result_type &value)

Public Attributes
::rl::math::Vector3 *	goal
Greedy	greedy
DistanceModel *	model
::rl::math::Real	radius
::rl::math::Real	range
::std::size_t	samples
::rl::math::Vector3 *	start
Viewer *	viewer

Protected Types
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, VertexBundle >	Graph
typedef ::boost::graph_traits< Graph >::edge_descriptor	Edge
typedef ::boost::graph_traits< Graph >::edge_iterator	EdgeIterator
typedef ::std::pair< EdgeIterator, EdgeIterator >	EdgeIteratorPair
typedef ::boost::graph_traits< Graph >::vertex_descriptor	Vertex
typedef ::boost::graph_traits< Graph >::vertex_iterator	VertexIterator
typedef ::std::pair< VertexIterator, VertexIterator >	VertexIteratorPair

Protected Member Functions
Edge	addEdge (const Vertex &u, const Vertex &v)
Vertex	addVertex (const WorkspaceSphere &sphere)
bool	isCovered (const Vertex &parent, const ::rl::math::Vector3 &point) const

Protected Attributes
Vertex	begin
Vertex	end
Graph	graph
::std::multiset< WorkspaceSphere >	queue
::boost::variate_generator< ::std::mt19937, ::boost::uniform_on_sphere< ::rl::math::Real > >	rand

Detailed Description

Wavefront expansion.

Oliver Brock and Lydia E. Kavraki. Decomposition-based motion planning: A framework for real-time motion planning in high-dimensional configuration spaces. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1469-1474, 2001.

http://dx.doi.org/10.1109/ROBOT.2001.932817

Member Typedef Documentation

Edge

typedef ::boost::graph_traits<Graph>::edge_descriptor rl::plan::WorkspaceSphereExplorer::Edge

protected

EdgeIterator

typedef ::boost::graph_traits<Graph>::edge_iterator rl::plan::WorkspaceSphereExplorer::EdgeIterator

protected

EdgeIteratorPair

typedef ::std::pair<EdgeIterator, EdgeIterator> rl::plan::WorkspaceSphereExplorer::EdgeIteratorPair

protected

Graph

typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, VertexBundle > rl::plan::WorkspaceSphereExplorer::Graph

protected

Vertex

typedef ::boost::graph_traits<Graph>::vertex_descriptor rl::plan::WorkspaceSphereExplorer::Vertex

protected

VertexIterator

typedef ::boost::graph_traits<Graph>::vertex_iterator rl::plan::WorkspaceSphereExplorer::VertexIterator

protected

VertexIteratorPair

typedef ::std::pair<VertexIterator, VertexIterator> rl::plan::WorkspaceSphereExplorer::VertexIteratorPair

protected

Member Enumeration Documentation

Greedy

enum rl::plan::WorkspaceSphereExplorer::Greedy

Enumerator
GREEDY_DISTANCE
GREEDY_SOURCE_DISTANCE
GREEDY_SPACE

Constructor & Destructor Documentation

WorkspaceSphereExplorer()

rl::plan::WorkspaceSphereExplorer::WorkspaceSphereExplorer

(

)

~WorkspaceSphereExplorer()

rl::plan::WorkspaceSphereExplorer::~WorkspaceSphereExplorer ( )

virtual

Member Function Documentation

addEdge()

WorkspaceSphereExplorer::Edge rl::plan::WorkspaceSphereExplorer::addEdge ( const Vertex &  u, const Vertex &  v  )

protected

addVertex()

WorkspaceSphereExplorer::Vertex rl::plan::WorkspaceSphereExplorer::addVertex ( const WorkspaceSphere &  sphere )

protected

explore()

bool rl::plan::WorkspaceSphereExplorer::explore

(

)

getPath()

WorkspaceSphereList rl::plan::WorkspaceSphereExplorer::getPath

(

)

const

isCovered() [1/2]

bool rl::plan::WorkspaceSphereExplorer::isCovered

(

const ::rl::math::Vector3 &

point

)

const

isCovered() [2/2]

bool rl::plan::WorkspaceSphereExplorer::isCovered ( const Vertex &  parent, const ::rl::math::Vector3 &  point  ) const

protected

reset()

void rl::plan::WorkspaceSphereExplorer::reset

(

)

seed()

void rl::plan::WorkspaceSphereExplorer::seed

(

const ::std::mt19937::result_type &

value

)

Member Data Documentation

begin

Vertex rl::plan::WorkspaceSphereExplorer::begin

protected

end

Vertex rl::plan::WorkspaceSphereExplorer::end

protected

goal

::rl::math::Vector3* rl::plan::WorkspaceSphereExplorer::goal

graph

Graph rl::plan::WorkspaceSphereExplorer::graph

protected

greedy

Greedy rl::plan::WorkspaceSphereExplorer::greedy

model

DistanceModel* rl::plan::WorkspaceSphereExplorer::model

queue

::std::multiset<WorkspaceSphere> rl::plan::WorkspaceSphereExplorer::queue

protected

radius

::rl::math::Real rl::plan::WorkspaceSphereExplorer::radius

rand

::boost::variate_generator< ::std::mt19937, ::boost::uniform_on_sphere< ::rl::math::Real> > rl::plan::WorkspaceSphereExplorer::rand

protected

range

::rl::math::Real rl::plan::WorkspaceSphereExplorer::range

samples

::std::size_t rl::plan::WorkspaceSphereExplorer::samples

start

::rl::math::Vector3* rl::plan::WorkspaceSphereExplorer::start

viewer

Viewer* rl::plan::WorkspaceSphereExplorer::viewer

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

• rl/plan/WorkspaceSphereExplorer.h
• rl/plan/WorkspaceSphereExplorer.cpp