Path planner
[Algorithms]

Path planner algorithms. More...


Classes
class	RRTnode
class	RRTparams
	Class containing various parameters for RRT algorithm. More...
class	RRT
	Class implementing a Rapidly-exploring Random Tree. More...
class	RTR
	Class implementing a rotate travel rotate path planner. More...
Enumerations
enum	PathPlanners { RRT_PLANNER, PATH_PLANNERS_NUM }
	Path Planners enumerator. More...
enum	PrimitivesType { STRAIGHT, TURN_LEFT, TURN_RIGHT, NULL_PRIMITIVE, PRIMITIVES_NUM }
	Primitives enumerator. More...
enum	RRTstate { FIND_Q_RAND, FIND_Q_NEAR, FIND_Q_NEW, COLLISION_CHECK, UPDATE, GOAL_REACHED, FIND_PATH, SEARCH_COMPLETE, STATE_NUM }
	RRT building state enumerator. More...
Functions
	RRTnode::RRTnode ()
	RRTnode::RRTnode (int ID, Pose q, int maxIter)
	RRTnode::RRTnode (int maxIter)
	RRTnode::RRTnode (const RRTnode &n)
	Copy constructor.
RRTnode &	RRTnode::operator= (const RRTnode &n)
	Operator =.
int	RRTnode::ID ()
	Gets the _ID parameter.
Pose	RRTnode::q ()
	Gets the _q parameter.
vector< int >	RRTnode::freePrimitives ()
	Gets the _freePrimitives parameter.
int	RRTnode::freePrimitivesNum ()
	Gets the _freePrimitives parameter.
int	RRTnode::parentID ()
	Gets the _parentID parameter.
int	RRTnode::edgeType ()
	Gets the _edgeType parameter.
Decimal	RRTnode::CSpaceDist ()
	Gets the _CSpaceDist parameter.
Cell *	RRTnode::cell ()
	Gets the _cell parameter.
Segment	RRTnode::straight ()
	Gets the _straight parameter.
Ellipse	RRTnode::left ()
	Gets the _left parameter.
Ellipse	RRTnode::right ()
	Gets the _right parameter.
string	RRTnode::print ()
	Prints on the screen all class parametes.
void	RRTnode::setID (int value)
	Sets the _ID parameter.
void	RRTnode::setQ (Pose value)
	Sets the _q parameter.
void	RRTnode::setFreePrimitives (vector< int > value)
	Sets the _freePrimitives parameter.
void	RRTnode::clearFreePrimitivesElem (int value)
	Sets to 0 the element of _freePrimitives selected by value.
void	RRTnode::setFreePrimitivesNum (int value)
	Sets the _freePrimitivesNum parameter.
void	RRTnode::decreaseFreePrimitivesNum ()
	Decreases by 1 the _freePrimitivesNum parameter.
void	RRTnode::setParentID (int value)
	Sets the _parentID parameter.
void	RRTnode::setEdgeType (int value)
	Sets the _edgeType parameter.
void	RRTnode::setCSpaceDist (Decimal value)
	Sets the _CSpaceDist parameter.
void	RRTnode::setCell (Cell *value)
	Sets the _cell parameter.
void	RRTnode::setStraight (Segment value)
	Sets the _straight parameter.
void	RRTnode::setLeft (Ellipse value)
	Sets the _left parameter.
void	RRTnode::setRight (Ellipse value)
	Sets the _right parameter.
	RRTparams::RRTparams ()
	Default Constructor.
	RRTparams::RRTparams (int maxIterations, Decimal delta, Decimal threshold, Decimal probBiasedExpansion)
	Parametric Constructor.
	RRTparams::RRTparams (const RRTparams &params)
	Copy constructor.
RRTparams &	RRTparams::operator= (const RRTparams &params)
	Operator =.
int	RRTparams::maxIterations ()
	Gets the _maxIterations parameter.
Decimal	RRTparams::deltaT ()
	Gets the _deltaT parameter.
Decimal	RRTparams::threshold ()
	Gets the _threshold parameter.
Decimal	RRTparams::probBiasedExpansion ()
	Gets the _probBiasedExpansion parameter.
vector< VelVec >	RRTparams::motionPrimitives ()
	Gets the _motionPrimitives parameter.
void	RRTparams::setMaxIterations (int value)
	Sets the _maxIterations parameter.
void	RRTparams::setDeltaT (Decimal value)
	Sets the _deltaT parameter.
void	RRTparams::setThreshold (Decimal value)
	Sets the _threshold parameter.
void	RRTparams::setProbBiasedExpansion (Decimal value)
	Sets the _probBiasedExpansion parameter.
void	RRTparams::setMotionPrimitives (vector< VelVec > value)
	Sets the _motionPrimitives parameter.
	RRT::RRT ()
	Default consturctor.
	RRT::RRT (RRTparams params)
	RRT::RRT (RRTparams params, Pose qStart, Pose qGoal, ExplorationNode *expNode)
	Paramtric consturctor.
	RRT::RRT (const RRT &rrt)
	Copy constructor.
RRT &	RRT::operator= (const RRT &rrt)
	Operator =.
void	RRT::initializeTree ()
	Create the tree, the Adjacency and Weights Matrices for RRT algorithm.
void	RRT::findQrand ()
	Chooses a random configutìration or the goal configuration for the RRT algorithm.
Decimal	RRT::CSpaceDist (Pose q1, Pose q2)
	Computes the distance between two configuration in the SO manifold.
void	RRT::findQnear ()
	Finds the node of the tree nearest to _qRand.
PrimitivesType	RRT::findQnew ()
bool	RRT::isCollisionFree (RRTnode node, Grid *grid)
void	RRT::update ()
bool	RRT::buildRRT (vector< Path * > &path, int &complIter)
	Builds the Rapidly-exploring Random Tree.
bool	RRT::buildRRT2 (vector< Path * > &path, vector< Path * > &tree, int &complIter)
	Builds the Rapidly-exploring Random Tree.
RRTparams	RRT::params ()
	Gets the _params parameter.
Pose	RRT::qStart ()
	Gets the _qStart parameter.
Pose	RRT::qGoal ()
	Gets the _qGoal parameter.
Pose	RRT::qRand ()
	Gets the _qRand parameter.
ExplorationNode *	RRT::expNode ()
	Gets the _grid parameter.
void	RRT::setParams (RRTparams value)
	Sets the _params parameter.
void	RRT::setQStart (Pose value)
	Sets the _qStart parameter.
void	RRT::setQGoal (Pose value)
	Sets the _qGoal parameter.
void	RRT::setQRand (Pose value)
	Sets the _qRand parameter.
void	RRT::setExpNode (ExplorationNode *value)
	Sets the _grid parameter.
string	RRT::print ()
	Prints on the screen all class parametes.
bool	RTR::buildRTR (Angle &rotation, Segment &segment, Pose start, Pose goal)
	Build the path.
Variables
static const char *	PathPlannersNames [PATH_PLANNERS_NUM]
	Path Planners names.
static const char *	PrimitivesNames [PRIMITIVES_NUM]
	Path names.
static const char *	RRTstateNames [STATE_NUM]
	RRT building state names.
Pose	RRTnode::_q
vector< int >	RRTnode::_freePrimitives
int	RRTnode::_freePrimitivesNum
int	RRTnode::_parentID
int	RRTnode::_edgeType
Decimal	RRTnode::_CSpaceDist
Cell *	RRTnode::_cell
Segment	RRTnode::_straight
Ellipse	RRTnode::_left
Ellipse	RRTnode::_right
Pose	RRT::_qStart
Pose	RRT::_qGoal
Pose	RRT::_qRand
Pose	RRT::_qNear
RRTnode	RRT::_tempNode
ExplorationNode *	RRT::_expNode
vector< RRTnode >	RRT::_tree
vector< int >	RRT::_sortedByDistance
Decimal	RRT::radius
Decimal	RRT::lenght
Timer	RRT::timer
Cell *	RRT::_goalCell
int	RRT::_nearest
Pose	RRT::_nearestPose
int	RRT::selPrim
vector< int >	RRT::_pathNodes

Detailed Description

Path planner algorithms.

Todo:: downcasting esplicito, sistemare i campi privati, commentare le funzioni.

Enumeration Type Documentation

enum PathPlanners

Path Planners enumerator.

Enumerator:

RRT_PLANNER
PATH_PLANNERS_NUM

enum PrimitivesType

Primitives enumerator.

Enumerator:

STRAIGHT
TURN_LEFT
TURN_RIGHT
NULL_PRIMITIVE
PRIMITIVES_NUM

enum RRTstate

RRT building state enumerator.

Enumerator:

FIND_Q_RAND
FIND_Q_NEAR
FIND_Q_NEW
COLLISION_CHECK
UPDATE
GOAL_REACHED
FIND_PATH
SEARCH_COMPLETE
STATE_NUM

Function Documentation

bool RRT::buildRRT	(	vector< Path * > &	path,
		int &	complIter
	)			`[inherited]`

Builds the Rapidly-exploring Random Tree.

bool RRT::buildRRT2	(	vector< Path * > &	path,
		vector< Path * > &	tree,
		int &	complIter
	)			`[inherited]`

Builds the Rapidly-exploring Random Tree.

bool RTR::buildRTR	(	Angle &	rotation,
		Segment &	segment,
		Pose	start,
		Pose	goal
	)			`[inherited]`

Build the path.

Parameters:

`[out]`	&rotation	.
`[out]`	&segment	.
`[in]`	start	.
`[in]`	goal	.

Cell* RRTnode::cell ( ) [inline, inherited]

Gets the _cell parameter.

void RRTnode::clearFreePrimitivesElem ( int value ) [inline, inherited]

Sets to 0 the element of _freePrimitives selected by value.

Decimal RRT::CSpaceDist	(	Pose	q1,
		Pose	q2
	)			`[inherited]`

Computes the distance between two configuration in the SO manifold.

Decimal RRTnode::CSpaceDist ( ) [inline, inherited]

Gets the _CSpaceDist parameter.

void RRTnode::decreaseFreePrimitivesNum ( ) [inline, inherited]

Decreases by 1 the _freePrimitivesNum parameter.

Decimal RRTparams::deltaT ( ) [inline, inherited]

Gets the _deltaT parameter.

int RRTnode::edgeType ( ) [inline, inherited]

Gets the _edgeType parameter.

ExplorationNode* RRT::expNode ( ) [inline, inherited]

Gets the _grid parameter.

void RRT::findQnear ( ) [inherited]

Finds the node of the tree nearest to _qRand.

PrimitivesType RRT::findQnew ( ) [inherited]

void RRT::findQrand ( ) [inherited]

Chooses a random configutìration or the goal configuration for the RRT algorithm.

vector<int> RRTnode::freePrimitives ( ) [inline, inherited]

Gets the _freePrimitives parameter.

int RRTnode::freePrimitivesNum ( ) [inline, inherited]

Gets the _freePrimitives parameter.

int RRTnode::ID ( ) [inline, inherited]

Gets the _ID parameter.

void RRT::initializeTree ( ) [inherited]

Create the tree, the Adjacency and Weights Matrices for RRT algorithm.

bool RRT::isCollisionFree	(	RRTnode	node,
		Grid *	grid
	)			`[inherited]`

Ellipse RRTnode::left ( ) [inline, inherited]

Gets the _left parameter.

int RRTparams::maxIterations ( ) [inline, inherited]

Gets the _maxIterations parameter.

vector<VelVec> RRTparams::motionPrimitives ( ) [inline, inherited]

Gets the _motionPrimitives parameter.

RRT& RRT::operator= ( const RRT & rrt ) [inline, inherited]

Operator =.

RRTparams& RRTparams::operator= ( const RRTparams & params ) [inline, inherited]

Operator =.

RRTnode& RRTnode::operator= ( const RRTnode & n ) [inline, inherited]

Operator =.

RRTparams RRT::params ( ) [inline, inherited]

Gets the _params parameter.

int RRTnode::parentID ( ) [inline, inherited]

Gets the _parentID parameter.

string RRT::print ( ) [inline, inherited]

Prints on the screen all class parametes.

string RRTnode::print ( ) [inline, inherited]

Prints on the screen all class parametes.

Decimal RRTparams::probBiasedExpansion ( ) [inline, inherited]

Gets the _probBiasedExpansion parameter.

Pose RRTnode::q ( ) [inline, inherited]

Gets the _q parameter.

Pose RRT::qGoal ( ) [inline, inherited]

Gets the _qGoal parameter.

Pose RRT::qRand ( ) [inline, inherited]

Gets the _qRand parameter.

Pose RRT::qStart ( ) [inline, inherited]

Gets the _qStart parameter.

Ellipse RRTnode::right ( ) [inline, inherited]

Gets the _right parameter.

RRT::RRT ( const RRT & rrt ) [inline, inherited]

Copy constructor.

RRT::RRT	(	RRTparams	params,
		Pose	qStart,
		Pose	qGoal,
		ExplorationNode *	expNode
	)			`[inline, inherited]`

Paramtric consturctor.

RRT::RRT ( RRTparams params ) [inline, inherited]

RRT::RRT ( ) [inline, inherited]

Default consturctor.

RRTnode::RRTnode ( const RRTnode & n ) [inline, inherited]

Copy constructor.

RRTnode::RRTnode ( int maxIter ) [inline, inherited]

RRTnode::RRTnode	(	int	ID,
		Pose	q,
		int	maxIter
	)			`[inline, inherited]`

RRTnode::RRTnode ( ) [inline, inherited]

RRTparams::RRTparams ( const RRTparams & params ) [inline, inherited]

Copy constructor.

RRTparams::RRTparams	(	int	maxIterations,
		Decimal	delta,
		Decimal	threshold,
		Decimal	probBiasedExpansion
	)			`[inline, inherited]`

Parametric Constructor.

RRTparams::RRTparams ( ) [inline, inherited]

Default Constructor.

void RRTnode::setCell ( Cell * value ) [inline, inherited]

Sets the _cell parameter.

void RRTnode::setCSpaceDist ( Decimal value ) [inline, inherited]

Sets the _CSpaceDist parameter.

void RRTparams::setDeltaT ( Decimal value ) [inline, inherited]

Sets the _deltaT parameter.

void RRTnode::setEdgeType ( int value ) [inline, inherited]

Sets the _edgeType parameter.

void RRT::setExpNode ( ExplorationNode * value ) [inline, inherited]

Sets the _grid parameter.

void RRTnode::setFreePrimitives ( vector< int > value ) [inline, inherited]

Sets the _freePrimitives parameter.

void RRTnode::setFreePrimitivesNum ( int value ) [inline, inherited]

Sets the _freePrimitivesNum parameter.

void RRTnode::setID ( int value ) [inline, inherited]

Sets the _ID parameter.

void RRTnode::setLeft ( Ellipse value ) [inline, inherited]

Sets the _left parameter.

void RRTparams::setMaxIterations ( int value ) [inline, inherited]

Sets the _maxIterations parameter.

void RRTparams::setMotionPrimitives ( vector< VelVec > value ) [inline, inherited]

Sets the _motionPrimitives parameter.

void RRT::setParams ( RRTparams value ) [inline, inherited]

Sets the _params parameter.

void RRTnode::setParentID ( int value ) [inline, inherited]

Sets the _parentID parameter.

void RRTparams::setProbBiasedExpansion ( Decimal value ) [inline, inherited]

Sets the _probBiasedExpansion parameter.

void RRTnode::setQ ( Pose value ) [inline, inherited]

Sets the _q parameter.

void RRT::setQGoal ( Pose value ) [inline, inherited]

Sets the _qGoal parameter.

void RRT::setQRand ( Pose value ) [inline, inherited]

Sets the _qRand parameter.

void RRT::setQStart ( Pose value ) [inline, inherited]

Sets the _qStart parameter.

void RRTnode::setRight ( Ellipse value ) [inline, inherited]

Sets the _right parameter.

void RRTnode::setStraight ( Segment value ) [inline, inherited]

Sets the _straight parameter.

void RRTparams::setThreshold ( Decimal value ) [inline, inherited]

Sets the _threshold parameter.

Segment RRTnode::straight ( ) [inline, inherited]

Gets the _straight parameter.

Decimal RRTparams::threshold ( ) [inline, inherited]

Gets the _threshold parameter.

void RRT::update ( ) [inherited]

Variable Documentation

Cell* RRTnode::_cell [inherited]

Decimal RRTnode::_CSpaceDist [inherited]

int RRTnode::_edgeType [inherited]

ExplorationNode* RRT::_expNode [inherited]

vector<int> RRTnode::_freePrimitives [inherited]

int RRTnode::_freePrimitivesNum [inherited]

Cell* RRT::_goalCell [inherited]

Ellipse RRTnode::_left [inherited]

int RRT::_nearest [inherited]

Pose RRT::_nearestPose [inherited]

int RRTnode::_parentID [inherited]

vector<int> RRT::_pathNodes [inherited]

Pose RRTnode::_q [inherited]

Pose RRT::_qGoal [inherited]

Pose RRT::_qNear [inherited]

Pose RRT::_qRand [inherited]

Pose RRT::_qStart [inherited]

Ellipse RRTnode::_right [inherited]

vector<int> RRT::_sortedByDistance [inherited]

Segment RRTnode::_straight [inherited]

RRTnode RRT::_tempNode [inherited]

vector<RRTnode> RRT::_tree [inherited]

Decimal RRT::lenght [inherited]

const char* PathPlannersNames[PATH_PLANNERS_NUM] [static]

Initial value:

 {
 "RRT Planner"
}

Path Planners names.

const char* PrimitivesNames[PRIMITIVES_NUM] [static]

Initial value:

 {
 "Straight",
 "Turn Left",
 "Turn Right",
 "Null Primitive"
}

Path names.

Decimal RRT::radius [inherited]

const char* RRTstateNames[STATE_NUM] [static]

Initial value:

 {
 "Find qRand",
 "Find qNear",
 "Find qNew",
 "Collision check",
 "Update",
 "Goal reached",
 "Find Path",
 "Search Complete"
}

RRT building state names.

int RRT::selPrim [inherited]

Timer RRT::timer [inherited]

Path planner [Algorithms]

Classes

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

Function Documentation

Variable Documentation

Path planner
[Algorithms]