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::WorkspaceTrajectoryParameters Class Reference

#include <plannerparameters.h>

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

Public Member Functions

 WorkspaceTrajectoryParameters (EnvironmentBasePtr penv)
 
EnvironmentBasePtr GetEnv () const
 
- 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 maxdeviationangle
 the maximum angle the next iksolution can deviate from the expected direction computed by the jacobian
 
bool maintaintiming
 maintain timing with input trajectory
 
bool greedysearch
 if true, will greeidly choose solutions (can possibly fail even a solution exists)
 
dReal ignorefirstcollision
 if > 0, will allow the robot to be in environment collision for the initial 'ignorefirstcollision' seconds of the trajectory. Once the robot gets out of collision, it will execute its normal following phase until it gets into collision again. This option is used when lifting objects from a surface, where the object is already in collision with the surface.
 
dReal ignorefirstcollisionee
 if > 0, will allow the manipulator end effector to be in environment collision for the initial 'ignorefirstcollisionee' seconds of the trajectory. similar to 'ignorefirstcollision'
 
dReal ignorelastcollisionee
 
dReal minimumcompletetime
 if > 0, will allow the manipulator end effector to get into collision with the environment for the last 'ignorelastcollisionee' seconds of the trajrectory. The kinematics, self collisions, and environment collisions with the other parts of the robot will still be checked
 
TrajectoryBasePtr workspacetraj
 workspace trajectory
 
- 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=0) const
 output the planner parameters in a string (in XML format)
 
virtual ProcessElement startElement (const std::string &name, const AttributesList &atts)
 
virtual bool endElement (const std::string &name)
 
virtual void characters (const std::string &ch)
 
- 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
 

Protected Attributes

EnvironmentBasePtr _penv
 
BaseXMLReaderPtr _pcurreader
 
bool _bProcessing
 
- 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

Examples:
orpr2turnlever.cpp.

Definition at line 611 of file plannerparameters.h.

Constructor & Destructor Documentation

OpenRAVE::WorkspaceTrajectoryParameters::WorkspaceTrajectoryParameters ( EnvironmentBasePtr  penv)

Member Function Documentation

virtual void OpenRAVE::WorkspaceTrajectoryParameters::characters ( const std::string &  ch)
protectedvirtual

gets called for all data in between tags.

Parameters
cha string to the data

Reimplemented from OpenRAVE::PlannerBase::PlannerParameters.

virtual bool OpenRAVE::WorkspaceTrajectoryParameters::endElement ( const std::string &  name)
protectedvirtual

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.

EnvironmentBasePtr OpenRAVE::WorkspaceTrajectoryParameters::GetEnv ( ) const
inline

Definition at line 615 of file plannerparameters.h.

virtual bool OpenRAVE::WorkspaceTrajectoryParameters::serialize ( std::ostream &  O,
int  options = 0 
) const
protectedvirtual

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.

virtual ProcessElement OpenRAVE::WorkspaceTrajectoryParameters::startElement ( const std::string &  name,
const AttributesList atts 
)
protectedvirtual

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.

Member Data Documentation

bool OpenRAVE::WorkspaceTrajectoryParameters::_bProcessing
protected

Definition at line 631 of file plannerparameters.h.

BaseXMLReaderPtr OpenRAVE::WorkspaceTrajectoryParameters::_pcurreader
protected

Definition at line 630 of file plannerparameters.h.

EnvironmentBasePtr OpenRAVE::WorkspaceTrajectoryParameters::_penv
protected

Definition at line 629 of file plannerparameters.h.

bool OpenRAVE::WorkspaceTrajectoryParameters::greedysearch

if true, will greeidly choose solutions (can possibly fail even a solution exists)

Definition at line 621 of file plannerparameters.h.

dReal OpenRAVE::WorkspaceTrajectoryParameters::ignorefirstcollision

if > 0, will allow the robot to be in environment collision for the initial 'ignorefirstcollision' seconds of the trajectory. Once the robot gets out of collision, it will execute its normal following phase until it gets into collision again. This option is used when lifting objects from a surface, where the object is already in collision with the surface.

Definition at line 622 of file plannerparameters.h.

dReal OpenRAVE::WorkspaceTrajectoryParameters::ignorefirstcollisionee

if > 0, will allow the manipulator end effector to be in environment collision for the initial 'ignorefirstcollisionee' seconds of the trajectory. similar to 'ignorefirstcollision'

Definition at line 623 of file plannerparameters.h.

dReal OpenRAVE::WorkspaceTrajectoryParameters::ignorelastcollisionee

Definition at line 624 of file plannerparameters.h.

bool OpenRAVE::WorkspaceTrajectoryParameters::maintaintiming

maintain timing with input trajectory

Definition at line 620 of file plannerparameters.h.

dReal OpenRAVE::WorkspaceTrajectoryParameters::maxdeviationangle

the maximum angle the next iksolution can deviate from the expected direction computed by the jacobian

Definition at line 619 of file plannerparameters.h.

dReal OpenRAVE::WorkspaceTrajectoryParameters::minimumcompletetime

if > 0, will allow the manipulator end effector to get into collision with the environment for the last 'ignorelastcollisionee' seconds of the trajrectory. The kinematics, self collisions, and environment collisions with the other parts of the robot will still be checked

specifies the minimum trajectory that must be followed for planner to declare success. If 0, then the entire trajectory has to be followed.

Definition at line 625 of file plannerparameters.h.

TrajectoryBasePtr OpenRAVE::WorkspaceTrajectoryParameters::workspacetraj

workspace trajectory

Definition at line 626 of file plannerparameters.h.


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