#include <planner_class.h>

Inheritance diagram for PlannerClass:

Collaboration diagram for PlannerClass:

Public Member Functions
	PlannerClass (int direction, const PlannerConfig &planner_config)
	Constructor for PlannerClass.

State	randomState (const PlannerConfig &planner_config)
	Generate a random state by sampling from within the bounds of the terrain.

std::vector< int >	neighborhoodN (State s, int N) const
	Get the closest N vertices to the specified state by Euclidean distance.

std::vector< int >	neighborhoodDist (State q, double dist) const
	Get the vertices within the specified Euclidean distance of the specified state.

int	getNearestNeighbor (State q) const
	Get the closest verticex to the specified state by Euclidean distance.

Public Member Functions inherited from GraphClass
	GraphClass ()
	Constructor for GraphClass.

void	addVertex (int index, State s)
	Add a new vertex to the graph along with its state data.

State	getVertex (int index)
	Retrieve the state stored at a particular index in the graph.

int	getNumVertices ()
	Retrieve the total number of vertices in the graph, computed as the size of the vertices vector.

virtual void	addEdge (int idx1, int idx2)
	Add a new edge to the graph.

virtual void	addEdge (int idx1, int idx2, double edge_cost)
	Add a new edge to the graph.

void	removeEdge (int idx1, int idx2)
	Remove an edge of the graph.

virtual int	getPredecessor (int idx)
	Get the parent of a vertex.

std::vector< int >	getSuccessors (int idx)
	Get the children of a vertex.

void	addAction (int idx, Action a)
	Add an action to a particular vertex. This is the action that lead to this particular vertex from its parent.

Action	getAction (int idx)
	Get the action of a vertex.

void	updateGValue (int idx, double val)
	Update the g-value of a vertex and propogate to all its successors.

double	getGValue (int idx)
	Get the g-value of a vertex.

double	computeEdgeCost (int idx1, int idx2)
	Compute the cost of an edge between two vertices.

void	printVertex (State s)
	Print the state information via stdout.

void	printVertices ()
	Print the all vertices in the graph via stdout.

void	printIncomingEdges (int idx)
	Print the edges leading to a vertex via stdout.

virtual void	printEdges ()
	Print the all edges in the graph via stdout.

virtual void	init (State s)
	Initialize the graph by adding the root vertex (idx = 0) and setting g(idx) = 0.

Public Attributes
int	direction_ = FORWARD
	Direction.

std::shared_ptr< std::lognormal_distribution< double > >	vel_distribution_
	Lognormal distribution for velocity sampling.

Additional Inherited Members
Protected Attributes inherited from GraphClass
std::unordered_map< int, State >	vertices
	Map from vertex indices to corresponding states.

std::unordered_map< int, Action >	actions
	Map from vertex indices to the actions leading to those vertices.

std::unordered_map< int, std::vector< int > >	edges
	Map from vertex indices to their parent(s)

std::unordered_map< int, std::vector< int > >	successors
	Map from vertex indices to their children.

std::unordered_map< int, double >	g_values
	Map from vertex indices to their costs (g-values)

Detailed Description

A directed graph class with supplemental methods to aid in sample-based planning.

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

◆ PlannerClass()

PlannerClass::PlannerClass	(	int	direction,
		const PlannerConfig &	planner_config
	)

Constructor for PlannerClass.

Parameters

[in]	direction	Direction of tree expansion
[in]	planner_config	Configuration structure used for sampling params

Returns: Constructed object of type PlannerClass

Member Function Documentation

◆ getNearestNeighbor()

int PlannerClass::getNearestNeighbor ( State q ) const

Get the closest verticex to the specified state by Euclidean distance.

Parameters

[in] s State to query the neighborhood

Returns: Index of closest vertex

◆ neighborhoodDist()

std::vector< int > PlannerClass::neighborhoodDist	(	State	q,
		double	dist
	)		const

Get the vertices within the specified Euclidean distance of the specified state.

Parameters

[in]	s	State to query the neighborhood
[in]	dist	distance threshold for the neighborhood

Returns: Vector of indices included in the neighborhood

◆ neighborhoodN()

std::vector< int > PlannerClass::neighborhoodN	(	State	s,
		int	N
	)		const

Get the closest N vertices to the specified state by Euclidean distance.

Parameters

[in]	s	State to query the neighborhood
[in]	N	Number of vertices to include in the neighborhood

Returns: Vector of indices included in the neighborhood

◆ randomState()

State PlannerClass::randomState ( const PlannerConfig & planner_config )

Generate a random state by sampling from within the bounds of the terrain.

Parameters

[in] terrain Height map of the terrain

Returns: Newly generated random state

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

global_body_planner/include/global_body_planner/planner_class.h
global_body_planner/src/planner_class.cpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PlannerClass()

Member Function Documentation

◆ getNearestNeighbor()

◆ neighborhoodDist()

◆ neighborhoodN()

◆ randomState()