A class to contain global plan data along with helper functions. More...

#include <global_body_plan.h>

Public Member Functions
	GlobalBodyPlan ()
	Constructor for GlobalBodyPlan.

bool	operator== (GlobalBodyPlan p1) const

bool	isEmpty () const
	Check if this plan is empty.

int	getStatus () const
	Get the status of this plan.

void	setStatus (int status)
	Set the status of this plan.

int	getSize () const
	Get the size of the plan (number of finite elements)

double	getDuration () const
	Get the duration of the plan in seconds.

double	getLength () const
	Get the length of the plan in meters.

double	getLengthAtIndex (int i) const
	Get the length of the plan at a particular index in meters.

double	getTime (int i) const
	Get the time of the plan at a particular index in seconds.

FullState	getStateFromIndex (int i) const
	Get a particular state from the plan.

int	getPrimitiveFromIndex (int i) const
	Get the motion primitive from the plan.

double	getGoalDistance () const
	Get the distance of the plan end to the goal (retrieves member variable, does not compute)

void	setComputedTimestamp (ros::Time timestamp)
	Set the timestamp at which this plan was computed (must be unique)

ros::Time	getComputedTimestamp () const
	Get the timestamp at which this plan was computed.

double	setPublishedTimestamp (ros::Time timestamp)
	Set the timestamp at which this plan was published.

ros::Time	getPublishedTimestamp () const
	Get the timestamp at which this plan was published.

void	clear ()
	Reset the plan (clear all data, update data to unsolved)

void	invalidate ()
	Invalidate the plan so next will be accepted (set length to infinite and status to unsolved)

void	eraseAfterIndex (int start_index)
	Clear the plan after a particular index (used for replanning segments)

void	loadPlanData (int plan_status, FullState &start_state, double dist_to_goal, std::vector< State > &state_sequence, std::vector< Action > &action_sequence, double dt, double t0, const PlannerConfig &planner_config)
	Load the interpolated plan data and metadata.

void	addStateAndGRFToMsg (double t, int plan_index, const FullState &body_state, const GRF &grf, int primitive_id, quad_msgs::RobotPlan &msg)
	Load a semgent of interpolated plan data into a plan message.

void	convertToMsg (quad_msgs::RobotPlan &robot_plan_msg, quad_msgs::RobotPlan &discrete_robot_plan_msg)
	Load the entire plan into a plan message.

Private Attributes
ros::Time	computed_timestamp_
	Time stamp for when plan was computed (unique)

ros::Time	published_timestamp_
	Time stamp for when plan was published (not unique)

std::vector< double >	t_plan_
	Std vector containing the interpolated time data.

std::vector< FullState >	body_plan_
	Std vector containing the interpolated robot body plan.

std::vector< GRF >	grf_plan_
	Std vector containing the interpolated wrench plan.

std::vector< int >	primitive_id_plan_
	Std vector containing the interpolated time data.

std::vector< double >	length_plan_
	Std vector containing the cumulative path length at each index of the plan.

std::vector< State >	state_sequence_
	Sequence of discrete states in the plan.

std::vector< Action >	action_sequence_
	Sequence of discrete actions in the plan.

int	plan_status_
	Plan status.

double	goal_distance_
	Distance to goal.

Detailed Description

A class to contain global plan data along with helper functions.

This class inherits GraphClass, and adds method to add random states to the graph and search for neighbors. These functions are useful for sample-based planners such as RRTs or PRMs.

Constructor & Destructor Documentation

◆ GlobalBodyPlan()

GlobalBodyPlan::GlobalBodyPlan ( )

Constructor for GlobalBodyPlan.

Returns: Constructed object of type GlobalBodyPlan

Member Function Documentation

◆ addStateAndGRFToMsg()

void GlobalBodyPlan::addStateAndGRFToMsg	(	double	t,
		int	plan_index,
		const FullState &	body_state,
		const GRF &	grf,
		int	primitive_id,
		quad_msgs::RobotPlan &	msg
	)

Load a semgent of interpolated plan data into a plan message.

Parameters

[in]	t	Time at which this data occurs
[in]	plan_index	Index in the plan for which this data will be inserted
[in]	body_state	Body state data
[in]	grf	GRF data
[out]	msg	Robot plan message with data added

◆ convertToMsg()

void GlobalBodyPlan::convertToMsg	(	quad_msgs::RobotPlan &	robot_plan_msg,
		quad_msgs::RobotPlan &	discrete_robot_plan_msg
	)

Load the entire plan into a plan message.

Parameters

[out]	robot_plan_msg	Interpolated robot plan message
[out]	discrete_robot_plan_msg	Discrete robot plan message

◆ eraseAfterIndex()

void GlobalBodyPlan::eraseAfterIndex ( int start_index )

Clear the plan after a particular index (used for replanning segments)

Parameters

[in] start_index Index which will start new plan (all higher indices cleared)

◆ getComputedTimestamp()

ros::Time GlobalBodyPlan::getComputedTimestamp ( ) const

inline

Get the timestamp at which this plan was computed.

Returns: Timestamp at which the plan returned

◆ getDuration()

double GlobalBodyPlan::getDuration ( ) const

inline

Get the duration of the plan in seconds.

Returns: Plan duration

◆ getGoalDistance()

double GlobalBodyPlan::getGoalDistance ( ) const

inline

Get the distance of the plan end to the goal (retrieves member variable, does not compute)

Returns: Distance from end of plan to goal

◆ getLength()

double GlobalBodyPlan::getLength ( ) const

inline

Get the length of the plan in meters.

Returns: Plan length

◆ getLengthAtIndex()

double GlobalBodyPlan::getLengthAtIndex ( int i ) const

inline

Get the length of the plan at a particular index in meters.

Returns: Plan length at index

◆ getPrimitiveFromIndex()

int GlobalBodyPlan::getPrimitiveFromIndex ( int i ) const

inline

Get the motion primitive from the plan.

Returns: Primitive at index i

◆ getPublishedTimestamp()

ros::Time GlobalBodyPlan::getPublishedTimestamp ( ) const

inline

Get the timestamp at which this plan was published.

Returns: Timestamp at which the plan was published

◆ getSize()

int GlobalBodyPlan::getSize ( ) const

inline

Get the size of the plan (number of finite elements)

Returns: Plan size

◆ getStateFromIndex()

FullState GlobalBodyPlan::getStateFromIndex ( int i ) const

inline

Get a particular state from the plan.

Returns: State at index i

◆ getStatus()

int GlobalBodyPlan::getStatus ( ) const

inline

Get the status of this plan.

Returns: Plan status ID

◆ getTime()

double GlobalBodyPlan::getTime ( int i ) const

inline

Get the time of the plan at a particular index in seconds.

Returns: Plan time at index

◆ isEmpty()

bool GlobalBodyPlan::isEmpty ( ) const

inline

Check if this plan is empty.

Returns: Plan emptiness

◆ loadPlanData()

void GlobalBodyPlan::loadPlanData	(	int	plan_status,
		FullState &	start_state,
		double	dist_to_goal,
		std::vector< State > &	state_sequence,
		std::vector< Action > &	action_sequence,
		double	dt,
		double	t0,
		const PlannerConfig &	planner_config
	)

Load the interpolated plan data and metadata.

Parameters

[in]	plan_status	Status of this particular plan
[in]	start_state	State at which this plan begins
[in]	dist_to_goal	Distance to goal from plan end
[in]	state_sequence	Discrete state sequence to be interpolated
[in]	action_sequence	Discrete action sequence to be interpolated
[in]	dt	Timestep for interpolation
[in]	t0	Start time of this plan section
[in]	planner_config	Planning configuration parameters

◆ setComputedTimestamp()

void GlobalBodyPlan::setComputedTimestamp ( ros::Time timestamp )

inline

Set the timestamp at which this plan was computed (must be unique)

Parameters

[in] timestamp Timestamp at which the plan returned

◆ setPublishedTimestamp()

double GlobalBodyPlan::setPublishedTimestamp ( ros::Time timestamp )

inline

Set the timestamp at which this plan was published.

Parameters

[in] timestamp Timestamp at which the plan was published

◆ setStatus()

void GlobalBodyPlan::setStatus ( int status )

inline

Set the status of this plan.

Parameters

[in] status Plan status ID

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

global_body_planner/include/global_body_planner/global_body_plan.h
global_body_planner/src/global_body_plan.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ GlobalBodyPlan()

Member Function Documentation

◆ addStateAndGRFToMsg()

◆ convertToMsg()

◆ eraseAfterIndex()

◆ getComputedTimestamp()

◆ getDuration()

◆ getGoalDistance()

◆ getLength()

◆ getLengthAtIndex()

◆ getPrimitiveFromIndex()

◆ getPublishedTimestamp()

◆ getSize()

◆ getStateFromIndex()

◆ getStatus()

◆ getTime()

◆ isEmpty()

◆ loadPlanData()

◆ setComputedTimestamp()

◆ setPublishedTimestamp()

◆ setStatus()