openrave.org

 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | List of all members
OpenRAVE::RAStarParameters Class Reference

#include <plannerparameters.h>

Inheritance diagram for OpenRAVE::RAStarParameters:
Inheritance graph
[legend]
Collaboration diagram for OpenRAVE::RAStarParameters:
Collaboration graph
[legend]

Public Member Functions

 RAStarParameters ()
 
- Public Member Functions inherited from OpenRAVE::PlannerBase::PlannerParameters
 PlannerParameters ()
 
virtual ~PlannerParameters ()
 
virtual PlannerParametersoperator= (const PlannerParameters &r)
 Attemps to copy data from one set of parameters to another in the safest manner.
 
virtual void copy (boost::shared_ptr< PlannerParameters const > r)
 
virtual void SetRobotActiveJoints (RobotBasePtr robot)
 sets up the planner parameters to use the active joints of the robot
 
virtual void SetConfigurationSpecification (EnvironmentBasePtr env, const ConfigurationSpecification &spec)
 sets up the planner parameters to use the configuration specification space
 
virtual void Validate () const
 veriries that the configuration space and all parameters are consistent
 
virtual int GetDOF () const
 Return the degrees of freedom of the planning configuration space.
 
- Public Member Functions inherited from OpenRAVE::BaseXMLReader
 BaseXMLReader ()
 
virtual ~BaseXMLReader ()
 
virtual XMLReadablePtr GetReadable ()
 
- Public Member Functions inherited from OpenRAVE::XMLReadable
 XMLReadable (const std::string &xmlid)
 
virtual ~XMLReadable ()
 
virtual const std::string & GetXMLId () const
 
virtual void Serialize (BaseXMLWriterPtr writer, int options=0) const
 serializes the interface
 
- Public Member Functions inherited from OpenRAVE::UserData
virtual ~UserData ()
 

Public Attributes

dReal fRadius
 _pDistMetric thresh is the radius that children must be within parents
 
dReal fDistThresh
 gamma * _pDistMetric->thresh is the sampling radius
 
dReal fGoalCoeff
 balancees exploratino vs cost
 
int nMaxChildren
 limit on number of children
 
int nMaxSampleTries
 max sample tries before giving up on creating a child
 
- Public Attributes inherited from OpenRAVE::PlannerBase::PlannerParameters
ConfigurationSpecification _configurationspecification
 the configuration specification in which the planner works in. This specification is passed to the trajecotry creation modules.
 
CostFn _costfn
 
GoalFn _goalfn
 
DistMetricFn _distmetricfn
 
CheckPathConstraintFn _checkpathconstraintsfn
 
SampleFn _samplefn
 
SampleGoalFn _samplegoalfn
 
SampleInitialFn _sampleinitialfn
 
SampleNeighFn _sampleneighfn
 
SetStateFn _setstatefn
 
GetStateFn _getstatefn
 
DiffStateFn _diffstatefn
 
NeighStateFn _neighstatefn
 
std::vector< dRealvinitialconfig
 
std::vector< dRealvgoalconfig
 
std::vector< dReal_vConfigLowerLimit
 the absolute limits of the configuration space.
 
std::vector< dReal_vConfigUpperLimit
 
std::vector< dReal_vConfigVelocityLimit
 the absolute velocity limits of each DOF of the configuration space.
 
std::vector< dReal_vConfigAccelerationLimit
 the absolute acceleration limits of each DOF of the configuration space.
 
std::vector< dReal_vConfigResolution
 the discretization resolution of each dimension of the configuration space
 
dReal _fStepLength
 a discretization between the path that connects two configurations
 
int _nMaxIterations
 maximum number of iterations before the planner gives up. If 0 or less, planner chooses best iterations.
 
std::string _sPostProcessingPlanner
 Specifies the planner that will perform the post-processing path smoothing before returning.
 
std::string _sPostProcessingParameters
 The serialized planner parameters to pass to the path optimizer.
 
std::string _sExtraParameters
 Extra parameters data that does not fit within this planner parameters structure, but is still important not to lose all the information.
 
- Public Attributes inherited from OpenRAVE::BaseXMLReader
std::string _filename
 XML filename/resource used for this class (can be empty)
 

Protected Member Functions

virtual bool serialize (std::ostream &O, int options) const
 output the planner parameters in a string (in XML format)
 
ProcessElement startElement (const std::string &name, const AttributesList &atts)
 
virtual bool endElement (const std::string &name)
 
- Protected Member Functions inherited from OpenRAVE::PlannerBase::PlannerParameters
boost::shared_ptr
< PlannerBase::PlannerParameters
shared_parameters ()
 
boost::shared_ptr
< PlannerBase::PlannerParameters
const > 
shared_parameters_const () const
 
virtual void characters (const std::string &ch)
 

Protected Attributes

bool _bProcessingRA
 
- Protected Attributes inherited from OpenRAVE::PlannerBase::PlannerParameters
std::stringstream _ss
 holds the data read by characters
 
boost::shared_ptr
< std::stringstream > 
_sslocal
 
std::vector< std::string > _vXMLParameters
 all the top-level XML parameter tags (lower case) that are handled by this parameter structure, should be registered in the constructor
 

Additional Inherited Members

- Public Types inherited from OpenRAVE::PlannerBase::PlannerParameters
typedef boost::shared_ptr
< StateSaver
StateSaverPtr
 
typedef boost::function< dReal(const
std::vector< dReal > &)> 
CostFn
 Cost function on the state pace (optional).
 
typedef boost::function< dReal(const
std::vector< dReal > &)> 
GoalFn
 Goal heuristic function.(optional)
 
typedef boost::function< dReal(const
std::vector< dReal > &, const
std::vector< dReal > &)> 
DistMetricFn
 Distance metric between configuration spaces (optional)
 
typedef boost::function< bool(const
std::vector< dReal > &, const
std::vector< dReal >
&, IntervalType,
PlannerBase::ConfigurationListPtr)> 
CheckPathConstraintFn
 Checks that all the constraints are satisfied between two configurations.
 
typedef boost::function< bool(std::vector
< dReal > &)> 
SampleFn
 Samples a random configuration (mandatory)
 
typedef boost::function< bool(std::vector
< dReal > &)> 
SampleGoalFn
 Samples a valid goal configuration (optional).
 
typedef boost::function< bool(std::vector
< dReal > &)> 
SampleInitialFn
 Samples a valid initial configuration (optional).
 
typedef boost::function< bool(std::vector
< dReal > &, const std::vector
< dReal > &, dReal)> 
SampleNeighFn
 Returns a random configuration around a neighborhood (optional).
 
typedef boost::function< void(const
std::vector< dReal > &)> 
SetStateFn
 Sets the state of the robot. Default is active robot joints (mandatory).
 
typedef boost::function< void(std::vector
< dReal > &)> 
GetStateFn
 Gets the state of the robot. Default is active robot joints (mandatory).
 
typedef boost::function< void(std::vector
< dReal > &, const std::vector
< dReal > &)> 
DiffStateFn
 Computes the difference of two states.
 
typedef boost::function< bool(std::vector
< dReal > &, const std::vector
< dReal > &, int)> 
NeighStateFn
 Adds a delta state to a curent state, acting like a next-nearest-neighbor function along a given direction.
 

Detailed Description

Definition at line 92 of file plannerparameters.h.

Constructor & Destructor Documentation

OpenRAVE::RAStarParameters::RAStarParameters ( )
inline

Definition at line 95 of file plannerparameters.h.

Member Function Documentation

virtual bool OpenRAVE::RAStarParameters::endElement ( const std::string &  name)
inlineprotectedvirtual

Gets called at the end of each "</type>" expression. In this case, name is "type"

Parameters
nameof the tag, will be always lower case
Returns
true if XMLReader has finished parsing (one condition is that name==_fieldname) , otherwise false

Reimplemented from OpenRAVE::PlannerBase::PlannerParameters.

Definition at line 140 of file plannerparameters.h.

virtual bool OpenRAVE::RAStarParameters::serialize ( std::ostream &  O,
int  options 
) const
inlineprotectedvirtual

output the planner parameters in a string (in XML format)

Parameters
optionsif 1 will skip writing the extra parameters don't use PlannerParameters as a tag!

Reimplemented from OpenRAVE::PlannerBase::PlannerParameters.

Definition at line 110 of file plannerparameters.h.

ProcessElement OpenRAVE::RAStarParameters::startElement ( const std::string &  name,
const AttributesList atts 
)
inlineprotectedvirtual

Gets called in the beginning of each "<type>" expression. In this case, name is "type"

Parameters
nameof the tag, will be always lower case
attsstring of attributes where the first std::string is the attribute name and second is the value
Returns
true if tag is accepted and this class will process it, otherwise false

Reimplemented from OpenRAVE::PlannerBase::PlannerParameters.

Definition at line 127 of file plannerparameters.h.

Member Data Documentation

bool OpenRAVE::RAStarParameters::_bProcessingRA
protected

Definition at line 109 of file plannerparameters.h.

dReal OpenRAVE::RAStarParameters::fDistThresh

gamma * _pDistMetric->thresh is the sampling radius

Definition at line 104 of file plannerparameters.h.

dReal OpenRAVE::RAStarParameters::fGoalCoeff

balancees exploratino vs cost

Definition at line 105 of file plannerparameters.h.

dReal OpenRAVE::RAStarParameters::fRadius

_pDistMetric thresh is the radius that children must be within parents

Definition at line 103 of file plannerparameters.h.

int OpenRAVE::RAStarParameters::nMaxChildren

limit on number of children

Definition at line 106 of file plannerparameters.h.

int OpenRAVE::RAStarParameters::nMaxSampleTries

max sample tries before giving up on creating a child

Definition at line 107 of file plannerparameters.h.


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