Planner2D Class Reference

#include <armarx/navigation/algorithms/astar/Planner2D.h>

Classes
struct	point2D

Public Member Functions
virtual std::vector< point2D >	getGridVisu (float xdist, float ydist, Eigen::Vector2f goal)
float	getParameter (const std::string &s)
	get the corresponding float parameter (0 is returned when parameter string is not present)
bool	hasParameter (const std::string &s)
	check if a parameter is set
virtual std::vector< Eigen::Vector2f >	plan (const Eigen::Vector2f &start, const Eigen::Vector2f &goal)=0
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Planner2D (VirtualRobot::RobotPtr robot, VirtualRobot::SceneObjectSetPtr obstacles=VirtualRobot::SceneObjectSetPtr())
	Initialize Planner with robot and obstacles.
Eigen::Matrix4f	positionToMatrix4f (Eigen::Vector2f pos)
void	setObstacles (VirtualRobot::SceneObjectSetPtr obstacles)
	Update obstacles.
void	setParameter (const std::string &s, float p)
	set a float parameter that is identified with a string
void	setRobot (VirtualRobot::RobotPtr robot)
	update robot
void	setRobotColModel (const std::string &robotColModelName)
	set name of RobotNode which should be used for collision detection
virtual	~Planner2D ()=default

Protected Attributes
VirtualRobot::SceneObjectSetPtr	obstacles
std::map< std::string, float >	parameters
VirtualRobot::RobotPtr	robot
VirtualRobot::CollisionModelPtr	robotCollisionModel
std::string	robotColModelName
Eigen::Vector2f	sceneBoundsMax
Eigen::Vector2f	sceneBoundsMin

Detailed Description

Definition at line 15 of file Planner2D.h.

Constructor & Destructor Documentation

Planner2D()

Planner2D	(	VirtualRobot::RobotPtr	robot,
		VirtualRobot::SceneObjectSetPtr	obstacles = VirtualRobot::SceneObjectSetPtr() )

Initialize Planner with robot and obstacles.

Parameters

robot	The robot
obstacles	The obstacles which should be considered by the planner

Definition at line 17 of file Planner2D.cpp.

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~Planner2D()

virtual ~Planner2D ( )

virtualdefault

Member Function Documentation

getGridVisu()

virtual std::vector< point2D > getGridVisu ( float xdist, float ydist, Eigen::Vector2f goal )

inlinevirtual

Definition at line 62 of file Planner2D.h.

getParameter()

float getParameter

(

const std::string &

s

)

get the corresponding float parameter (0 is returned when parameter string is not present)

Definition at line 76 of file Planner2D.cpp.

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hasParameter()

bool hasParameter

(

const std::string &

s

)

check if a parameter is set

Definition at line 70 of file Planner2D.cpp.

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plan()

virtual std::vector< Eigen::Vector2f > plan ( const Eigen::Vector2f & start, const Eigen::Vector2f & goal )

pure virtual

positionToMatrix4f()

Eigen::Matrix4f positionToMatrix4f

(

Eigen::Vector2f

pos

)

Definition at line 55 of file Planner2D.cpp.

setObstacles()

void setObstacles

(

VirtualRobot::SceneObjectSetPtr

obstacles

)

Update obstacles.

Definition at line 26 of file Planner2D.cpp.

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setParameter()

void setParameter	(	const std::string &	s,
		float	p )

set a float parameter that is identified with a string

Definition at line 64 of file Planner2D.cpp.

setRobot()

void setRobot

(

VirtualRobot::RobotPtr

robot

)

update robot

Definition at line 43 of file Planner2D.cpp.

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setRobotColModel()

void setRobotColModel

(

const std::string &

robotColModelName

)

set name of RobotNode which should be used for collision detection

Definition at line 49 of file Planner2D.cpp.

Member Data Documentation

obstacles

VirtualRobot::SceneObjectSetPtr obstacles

protected

Definition at line 72 of file Planner2D.h.

parameters

std::map<std::string, float> parameters

protected

Definition at line 76 of file Planner2D.h.

robot

VirtualRobot::RobotPtr robot

protected

Definition at line 71 of file Planner2D.h.

robotCollisionModel

VirtualRobot::CollisionModelPtr robotCollisionModel

protected

Definition at line 70 of file Planner2D.h.

robotColModelName

std::string robotColModelName

protected

Definition at line 68 of file Planner2D.h.

sceneBoundsMax

Eigen::Vector2f sceneBoundsMax

protected

Definition at line 74 of file Planner2D.h.

sceneBoundsMin

Eigen::Vector2f sceneBoundsMin

protected

Definition at line 73 of file Planner2D.h.

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

• armarx/navigation/algorithms/astar/Planner2D.h
• armarx/navigation/algorithms/astar/Planner2D.cpp