parameters for timing/smoothing trajectories More...
#include <plannerparameters.h>
Public Member Functions | |
TrajectoryTimingParameters () | |
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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 | |
std::string | _interpolation |
dReal | _pointtolerance |
multiple of dof resolutions to set on discretization tolerance | |
bool | _hastimestamps |
bool | _hasvelocities |
bool | _outputaccelchanges |
if true, will output a waypoint every time a DOF changes its acceleration, this allows a trajectory be executed without knowing the max velocities/accelerations. If false, will just output the waypoints. | |
int | _multidofinterp |
if 1, will always force the max acceleration of the robot when retiming rather than using lesser acceleration whenever possible. if 0, will compute minimum acceleration. If 2, will match acceleration ramps of all dofs. | |
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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) | |
ProcessElement | startElement (const std::string &name, const AttributesList &atts) |
virtual bool | endElement (const std::string &name) |
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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 | _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. | |
parameters for timing/smoothing trajectories
PlannerBase::PlannerParameters::_fStepLength is used for the control time of the robot identifying the discretization of the trajectory time. if 0, will ignore discretization of time.
Definition at line 432 of file plannerparameters.h.
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inline |
Definition at line 435 of file plannerparameters.h.
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inlineprotectedvirtual |
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.
Reimplemented in OpenRAVE::ConstraintTrajectoryTimingParameters.
Definition at line 486 of file plannerparameters.h.
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inlineprotectedvirtual |
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.
Reimplemented in OpenRAVE::ConstraintTrajectoryTimingParameters.
Definition at line 453 of file plannerparameters.h.
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inlineprotectedvirtual |
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.
Reimplemented in OpenRAVE::ConstraintTrajectoryTimingParameters.
Definition at line 471 of file plannerparameters.h.
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protected |
Definition at line 452 of file plannerparameters.h.
bool OpenRAVE::TrajectoryTimingParameters::_hastimestamps |
Definition at line 447 of file plannerparameters.h.
bool OpenRAVE::TrajectoryTimingParameters::_hasvelocities |
Definition at line 447 of file plannerparameters.h.
std::string OpenRAVE::TrajectoryTimingParameters::_interpolation |
Definition at line 445 of file plannerparameters.h.
int OpenRAVE::TrajectoryTimingParameters::_multidofinterp |
if 1, will always force the max acceleration of the robot when retiming rather than using lesser acceleration whenever possible. if 0, will compute minimum acceleration. If 2, will match acceleration ramps of all dofs.
Definition at line 449 of file plannerparameters.h.
bool OpenRAVE::TrajectoryTimingParameters::_outputaccelchanges |
if true, will output a waypoint every time a DOF changes its acceleration, this allows a trajectory be executed without knowing the max velocities/accelerations. If false, will just output the waypoints.
Definition at line 448 of file plannerparameters.h.
dReal OpenRAVE::TrajectoryTimingParameters::_pointtolerance |
multiple of dof resolutions to set on discretization tolerance
Definition at line 446 of file plannerparameters.h.