#include <plannerparameters.h>
Public Member Functions | |
WorkspaceTrajectoryParameters (EnvironmentBasePtr penv) | |
EnvironmentBasePtr | GetEnv () const |
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PlannerParameters () | |
virtual | ~PlannerParameters () |
virtual PlannerParameters & | operator= (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. | |
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BaseXMLReader () | |
virtual | ~BaseXMLReader () |
virtual XMLReadablePtr | GetReadable () |
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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 | |
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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 | |
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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< dReal > | vinitialconfig |
std::vector< dReal > | vgoalconfig |
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. | |
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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) |
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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 |
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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 | |
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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. | |
Definition at line 611 of file plannerparameters.h.
OpenRAVE::WorkspaceTrajectoryParameters::WorkspaceTrajectoryParameters | ( | EnvironmentBasePtr | penv | ) |
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protectedvirtual |
gets called for all data in between tags.
ch | a string to the data |
Reimplemented from OpenRAVE::PlannerBase::PlannerParameters.
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protectedvirtual |
Gets called at the end of each "</type>" expression. In this case, name is "type"
name | of the tag, will be always lower case |
Reimplemented from OpenRAVE::PlannerBase::PlannerParameters.
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inline |
Definition at line 615 of file plannerparameters.h.
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protectedvirtual |
output the planner parameters in a string (in XML format)
options | if 1 will skip writing the extra parameters don't use PlannerParameters as a tag! |
Reimplemented from OpenRAVE::PlannerBase::PlannerParameters.
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protectedvirtual |
Gets called in the beginning of each "<type>" expression. In this case, name is "type"
name | of the tag, will be always lower case |
atts | string of attributes where the first std::string is the attribute name and second is the value |
Reimplemented from OpenRAVE::PlannerBase::PlannerParameters.
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protected |
Definition at line 631 of file plannerparameters.h.
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protected |
Definition at line 630 of file plannerparameters.h.
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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.