Robotics Library
0.6.0
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#include <PrmUtilityGuided.h>
Classes | |
struct | CompareSample |
class | Sample |
Public Member Functions | |
PrmUtilityGuided () | |
virtual | ~PrmUtilityGuided () |
void | construct (const ::std::size_t &steps) |
::std::string | getName () const |
void | seed (const ::boost::mt19937::result_type &value) |
bool | solve () |
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Prm () | |
virtual | ~Prm () |
::std::size_t | getNumEdges () const |
::std::size_t | getNumVertices () const |
void | getPath (VectorList &path) |
void | reset () |
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Planner () | |
virtual | ~Planner () |
bool | verify () |
Private Member Functions | |
void | generateEntropyGuidedSample (::rl::math::Vector &q) |
::rl::math::Real | getFreeProbability (const Sample &sample) |
Private Attributes | |
::std::size_t | numNeighbors |
::std::size_t | numSamples |
::boost::variate_generator < ::boost::mt19937,::boost::uniform_real < ::rl::math::Real > > | rand |
::std::vector< Sample > | samples |
::rl::math::Real | variance |
Additional Inherited Members | |
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::std::size_t | degree |
::std::size_t | k |
bool | kd |
::rl::math::Real | radius |
Sampler * | sampler |
Verifier * | verifier |
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typedef ::boost::adjacency_list_traits < ::boost::listS,::boost::listS,::boost::undirectedS,::boost::listS > ::vertex_descriptor | Vertex |
typedef ::boost::adjacency_list < ::boost::listS,::boost::listS,::boost::undirectedS, VertexBundle, EdgeBundle, GraphBundle > | Graph |
typedef ::std::pair< const ::rl::math::Vector *, Vertex > | QueryItem |
typedef ::CGAL::Search_traits < ::rl::math::Real, QueryItem, const ::rl::math::Real *, CartesianIterator > | SearchTraits |
typedef Orthogonal_k_neighbor_search < SearchTraits, Distance > | NeighborSearch |
typedef NeighborSearch::Tree | NeighborSearchTree |
typedef ::boost::shared_ptr < NeighborSearchTree > | NeighborSearchTreePtr |
typedef ::std::vector < NeighborSearchTreePtr > | NearestNeighbors |
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_iterator | VertexIterator |
typedef ::std::pair < VertexIterator, VertexIterator > | VertexIteratorPair |
typedef ::boost::property_map < Graph, void *VertexBundle::* > ::type | VertexParentMap |
typedef ::boost::property_map < Graph,::std::size_t VertexBundle::* >::type | VertexRankMap |
typedef ::std::pair< Vertex,::rl::math::Real > | Neighbor |
typedef ::std::priority_queue < Neighbor,::std::vector < Neighbor >, Compare > | NeighborQueue |
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Edge | addEdge (const Vertex &u, const Vertex &v, const ::rl::math::Real &weight) |
void | addPoint (NearestNeighbors &nn, const QueryItem &p) |
Vertex | addVertex (const VectorPtr &q) |
void | insert (const Vertex &vertex) |
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Vertex | begin |
::boost::disjoint_sets < VertexRankMap, VertexParentMap > | ds |
Vertex | end |
Graph | graph |
Probabilistic Roadmap using Utility-Guided Sampling.
rl::plan::PrmUtilityGuided::PrmUtilityGuided | ( | ) |
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Reimplemented from rl::plan::Prm.
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Samples a point near the middle (+/- variance) of two random nodes from unconnected components of the graph.
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Get an estimated probability that a sample is not colliding with the scene. Here we look how many of the numNeigbors nearest neighbors of the sample are colliding and return "#ofFreeNeighbors"/"#Neighbors".
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Reimplemented from rl::plan::Prm.
void rl::plan::PrmUtilityGuided::seed | ( | const ::boost::mt19937::result_type & | value | ) |
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Find collision free path.
Reimplemented from rl::plan::Prm.
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