#include <graph_dynamic_planner.h>

Inheritance diagram for fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >:

Classes
struct	Node

Public Member Functions
virtual	~GraphDynamicPlanner ()

Public Member Functions inherited from fastrack::planning::Planner< S, E, D, SD, B, SB >
bool	Initialize (const ros::NodeHandle &n)

virtual	~Planner ()

Protected Member Functions
virtual double	Cost (const Trajectory< S > &traj) const

Trajectory< S >	ExtractTrajectory () const

	GraphDynamicPlanner ()

virtual double	Heuristic (const S &state) const

virtual bool	LoadParameters (const ros::NodeHandle &n)

Trajectory< S >	Plan (const S &start, const S &goal, double start_time=0.0) const

Trajectory< S >	RecursivePlan (double initial_call_time, bool outbound) const

virtual bool	RegisterCallbacks (const ros::NodeHandle &n)

virtual Trajectory< S >	SubPlan (const S &start, const S &goal, double start_time=0.0) const =0

void	UpdateAncestorsOnGoal (const typename Node::Ptr &node) const

void	UpdateAncestorsOnHome (const typename Node::Ptr &node) const

void	UpdateDescendants (const typename Node::Ptr &node) const

void	Visualize () const

Protected Member Functions inherited from fastrack::planning::Planner< S, E, D, SD, B, SB >
	Planner ()

bool	ReplanServer (fastrack_srvs::ReplanRequest &req, fastrack_srvs::ReplanResponse &res)

Protected Attributes
Colormap	colormap_

double	epsilon_greedy_

size_t	explore_node_idx_

std::string	fixed_frame_

Node::Ptr	goal_node_

std::unique_ptr< SearchableSet< Node, S > >	home_set_

std::unordered_set< typename Node::Ptr >	nodes_to_visit_

size_t	num_neighbors_

std::random_device	rd_

std::default_random_engine	rng_

double	search_radius_

std::vector< double >	traj_node_times_

std::vector< typename Node::Ptr >	traj_nodes_

ros::Publisher	vis_pub_

std::string	vis_topic_

Protected Attributes inherited from fastrack::planning::Planner< S, E, D, SD, B, SB >
B	bound_

ros::ServiceClient	bound_srv_

std::string	bound_srv_name_

D	dynamics_

ros::ServiceClient	dynamics_srv_

std::string	dynamics_srv_name_

E	env_

bool	initialized_

double	max_runtime_

std::string	name_

ros::ServiceServer	replan_srv_

std::string	replan_srv_name_

std::vector< double >	state_lower_

std::vector< double >	state_upper_

Detailed Description

template<typename S, typename E, typename D, typename SD, typename B, typename SB>
class fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >

Definition at line 130 of file graph_dynamic_planner.h.

Constructor & Destructor Documentation

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

virtual fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::~GraphDynamicPlanner ( )

inlinevirtual

Definition at line 132 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::GraphDynamicPlanner ( )

inlineexplicitprotected

Definition at line 135 of file graph_dynamic_planner.h.

Member Function Documentation

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

virtual double fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::Cost ( const Trajectory< S > & traj ) const

inlineprotectedvirtual

Definition at line 155 of file graph_dynamic_planner.h.

template<typename S , typename E , typename D , typename SD , typename B , typename SB >

Trajectory< S > fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::ExtractTrajectory ( ) const

protected

Definition at line 546 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

virtual double fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::Heuristic ( const S & state ) const

inlineprotectedvirtual

Definition at line 160 of file graph_dynamic_planner.h.

template<typename S , typename E , typename D , typename SD , typename B , typename SB >

bool fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::LoadParameters ( const ros::NodeHandle & n )

protectedvirtual

Reimplemented from fastrack::planning::Planner< S, E, D, SD, B, SB >.

Definition at line 733 of file graph_dynamic_planner.h.

template<typename S, typename E , typename D , typename SD , typename B , typename SB >

Trajectory< S > fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::Plan	(	const S &	start,
		const S &	goal,
		double	start_time = `0.0`
	)		const

protectedvirtual

Implements fastrack::planning::Planner< S, E, D, SD, B, SB >.

Definition at line 283 of file graph_dynamic_planner.h.

template<typename S , typename E , typename D , typename SD , typename B , typename SB >

Trajectory< S > fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::RecursivePlan	(	double	initial_call_time,
		bool	outbound
	)		const

protected

Definition at line 356 of file graph_dynamic_planner.h.

template<typename S , typename E , typename D , typename SD , typename B , typename SB >

bool fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::RegisterCallbacks ( const ros::NodeHandle & n )

protectedvirtual

Reimplemented from fastrack::planning::Planner< S, E, D, SD, B, SB >.

Definition at line 758 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

virtual Trajectory<S> fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::SubPlan	(	const S &	start,
		const S &	goal,
		double	start_time = `0.0`
	)		const

protectedpure virtual

Implemented in fastrack::planning::PlanarDubinsPlanner< E, B, SB >.

template<typename S , typename E , typename D , typename SD , typename B , typename SB >

void fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::UpdateAncestorsOnGoal ( const typename Node::Ptr & node ) const

protected

Definition at line 1001 of file graph_dynamic_planner.h.

template<typename S , typename E , typename D , typename SD , typename B , typename SB >

void fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::UpdateAncestorsOnHome ( const typename Node::Ptr & node ) const

protected

Definition at line 946 of file graph_dynamic_planner.h.

template<typename S , typename E , typename D , typename SD , typename B , typename SB >

void fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::UpdateDescendants ( const typename Node::Ptr & node ) const

protected

Definition at line 893 of file graph_dynamic_planner.h.

template<typename S , typename E , typename D , typename SD , typename B , typename SB >

void fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::Visualize ( ) const

protected

Definition at line 772 of file graph_dynamic_planner.h.

Member Data Documentation

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

Colormap fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::colormap_

mutableprotected

Definition at line 274 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

double fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::epsilon_greedy_

protected

Definition at line 244 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

size_t fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::explore_node_idx_

mutableprotected

Definition at line 267 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

std::string fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::fixed_frame_

protected

Definition at line 272 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

Node::Ptr fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::goal_node_

mutableprotected

Definition at line 252 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

std::unique_ptr<SearchableSet<Node, S> > fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::home_set_

mutableprotected

Definition at line 256 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

std::unordered_set<typename Node::Ptr> fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::nodes_to_visit_

mutableprotected

Definition at line 249 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

size_t fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::num_neighbors_

protected

Definition at line 239 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

std::random_device fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::rd_

mutableprotected

Definition at line 245 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

std::default_random_engine fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::rng_

mutableprotected

Definition at line 246 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

double fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::search_radius_

protected

Definition at line 240 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

std::vector<double> fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::traj_node_times_

mutableprotected

Definition at line 266 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

std::vector<typename Node::Ptr> fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::traj_nodes_

mutableprotected

Definition at line 265 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

ros::Publisher fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::vis_pub_

protected

Definition at line 270 of file graph_dynamic_planner.h.

template<typename S, typename E, typename D, typename SD, typename B, typename SB>

std::string fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >::vis_topic_

protected

Definition at line 271 of file graph_dynamic_planner.h.

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

graph_dynamic_planner.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename S, typename E, typename D, typename SD, typename B, typename SB> class fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename S, typename E, typename D, typename SD, typename B, typename SB>
class fastrack::planning::GraphDynamicPlanner< S, E, D, SD, B, SB >