Robotics Library
0.6.0
|
#include <WorkspaceSphereExplorer.h>
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::Vector * | goal |
Greedy | greedy |
DistanceModel * | model |
::rl::math::Real | radius |
::rl::math::Real | range |
::std::size_t | samples |
::rl::math::Vector * | start |
Viewer * | viewer |
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< WorkspaceSphere > | queue |
::boost::variate_generator < ::boost::mt19937,::boost::uniform_on_sphere < ::rl::math::Real > > | rand |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
|
protected |
rl::plan::WorkspaceSphereExplorer::WorkspaceSphereExplorer | ( | ) |
|
virtual |
|
protected |
|
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 |
|
protected |
void rl::plan::WorkspaceSphereExplorer::reset | ( | ) |
void rl::plan::WorkspaceSphereExplorer::seed | ( | const ::boost::mt19937::result_type & | value | ) |
|
protected |
|
protected |
::rl::math::Vector* rl::plan::WorkspaceSphereExplorer::goal |
|
protected |
Greedy rl::plan::WorkspaceSphereExplorer::greedy |
DistanceModel* rl::plan::WorkspaceSphereExplorer::model |
|
protected |
::rl::math::Real rl::plan::WorkspaceSphereExplorer::radius |
|
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 |