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rl::plan::WorkspaceSphereExplorer Class Reference

#include <WorkspaceSphereExplorer.h>

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Classes

struct  VertexBundle
 

Public Types

enum  Greedy { GREEDY_DISTANCE, GREEDY_SOURCE_DISTANCE, GREEDY_SPACE }
 

Public Member Functions

 WorkspaceSphereExplorer ()
 
virtual ~WorkspaceSphereExplorer ()
 
bool explore ()
 
void getPath (WorkspaceSphereList &path) const
 
bool isCovered (const ::rl::math::Vector &point) const
 
void reset ()
 
void seed (const ::boost::mt19937::result_type &value)
 

Public Attributes

::rl::math::Vectorgoal
 
Greedy greedy
 
DistanceModelmodel
 
::rl::math::Real radius
 
::rl::math::Real range
 
::std::size_t samples
 
::rl::math::Vectorstart
 
Viewerviewer
 

Protected Types

typedef
::boost::adjacency_list
< ::boost::listS,::boost::listS,::boost::bidirectionalS,
VertexBundle
Graph
 
typedef ::boost::graph_traits
< Graph >::edge_descriptor 
Edge
 
typedef ::boost::graph_traits
< Graph >::edge_iterator 
EdgeIterator
 
typedef ::std::pair
< EdgeIterator, EdgeIterator
EdgeIteratorPair
 
typedef ::boost::graph_traits
< Graph >::vertex_descriptor 
Vertex
 
typedef ::boost::graph_traits
< Graph >::vertex_iterator 
VertexIterator
 
typedef ::std::pair
< VertexIterator,
VertexIterator
VertexIteratorPair
 

Protected Member Functions

Edge addEdge (const Vertex &u, const Vertex &v)
 
Vertex addVertex (const WorkspaceSphere &sphere)
 
bool isCovered (const Vertex &parent, const ::rl::math::Vector &point) const
 

Protected Attributes

Vertex begin
 
Vertex end
 
Graph graph
 
::std::multiset< WorkspaceSpherequeue
 
::boost::variate_generator
< ::boost::mt19937,::boost::uniform_on_sphere
< ::rl::math::Real > > 
rand
 

Member Typedef Documentation

typedef ::boost::graph_traits< Graph >::edge_descriptor rl::plan::WorkspaceSphereExplorer::Edge
protected
typedef ::boost::graph_traits< Graph >::edge_iterator rl::plan::WorkspaceSphereExplorer::EdgeIterator
protected
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, VertexBundle > rl::plan::WorkspaceSphereExplorer::Graph
protected
typedef ::boost::graph_traits< Graph >::vertex_descriptor rl::plan::WorkspaceSphereExplorer::Vertex
protected
typedef ::boost::graph_traits< Graph >::vertex_iterator rl::plan::WorkspaceSphereExplorer::VertexIterator
protected

Member Enumeration Documentation

Enumerator
GREEDY_DISTANCE 
GREEDY_SOURCE_DISTANCE 
GREEDY_SPACE 

Constructor & Destructor Documentation

rl::plan::WorkspaceSphereExplorer::WorkspaceSphereExplorer ( )
rl::plan::WorkspaceSphereExplorer::~WorkspaceSphereExplorer ( )
virtual

Member Function Documentation

WorkspaceSphereExplorer::Edge rl::plan::WorkspaceSphereExplorer::addEdge ( const Vertex u,
const Vertex v 
)
protected
WorkspaceSphereExplorer::Vertex rl::plan::WorkspaceSphereExplorer::addVertex ( const WorkspaceSphere sphere)
protected
bool rl::plan::WorkspaceSphereExplorer::explore ( )
void rl::plan::WorkspaceSphereExplorer::getPath ( WorkspaceSphereList path) const
bool rl::plan::WorkspaceSphereExplorer::isCovered ( const ::rl::math::Vector point) const
bool rl::plan::WorkspaceSphereExplorer::isCovered ( const Vertex parent,
const ::rl::math::Vector point 
) const
protected
void rl::plan::WorkspaceSphereExplorer::reset ( )
void rl::plan::WorkspaceSphereExplorer::seed ( const ::boost::mt19937::result_type &  value)

Member Data Documentation

Vertex rl::plan::WorkspaceSphereExplorer::begin
protected
Vertex rl::plan::WorkspaceSphereExplorer::end
protected
::rl::math::Vector* rl::plan::WorkspaceSphereExplorer::goal
Graph rl::plan::WorkspaceSphereExplorer::graph
protected
Greedy rl::plan::WorkspaceSphereExplorer::greedy
DistanceModel* rl::plan::WorkspaceSphereExplorer::model
::std::multiset< WorkspaceSphere > rl::plan::WorkspaceSphereExplorer::queue
protected
::rl::math::Real rl::plan::WorkspaceSphereExplorer::radius
::boost::variate_generator< ::boost::mt19937, ::boost::uniform_on_sphere< ::rl::math::Real > > rl::plan::WorkspaceSphereExplorer::rand
protected
::rl::math::Real rl::plan::WorkspaceSphereExplorer::range
::std::size_t rl::plan::WorkspaceSphereExplorer::samples
::rl::math::Vector* rl::plan::WorkspaceSphereExplorer::start
Viewer* rl::plan::WorkspaceSphereExplorer::viewer

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