Actin®  Version 5.3.0
Software for Robotics Simulation and Control
EcRrtPathPlanner Class Reference

The EcRrtPathPlanner class implements a path planner using Actin control and Rapidly-exploring Random Tree. More...

#include <ecRrtPathPlanner.h>

Inheritance diagram for EcRrtPathPlanner:
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Collaboration diagram for EcRrtPathPlanner:
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Classes

struct  Results
 the results of path planning calculation More...
 

Public Member Functions

 ECXMLOBJECT (EcRrtPathPlanner)
 Macro to create all the necessary virtual methods for EcXmlObjects.
 
virtual void registerComponents () EC_OVERRIDE
 register components with the parent
 
virtual EcBoolean read (EcXmlReader &stream) EC_OVERRIDE
 read object from an XML stream More...
 
EcBoolean isCalculating () const
 gets a flag indicating if the path planner is currently calculating a path
 
virtual EcU32 manipulatorIndex () const
 gets the manipulator index
 
virtual void setManipulatorIndex (EcU32 value)
 sets the manipulator index
 
virtual EcU32 maxIterations () const
 
virtual void setMaxIterations (EcU32 value)
 
virtual EcReal maxTime () const
 gets the maximum time. This is the maximum time that will be used for path planning calculations.
 
virtual void setMaxTime (EcReal value)
 sets the maximum time
 
virtual EcReal stepSize () const
 gets the step size used to extend the tree node
 
virtual void setStepSize (EcReal value)
 sets the step size used to extend the tree node.
 
virtual EcReal collisionStepSize () const
 gets the step size used to check collision
 
virtual void setCollisionStepSize (EcReal value)
 
virtual EcReal neighborTolerance () const
 gets the tolerance used to determine whether a node is sufficiently close to another
 
virtual void setNeighborTolerance (EcReal value)
 sets the tolerance used to determine whether a node is sufficiently close to another
 
virtual EcReal goalTolerance () const
 gets the tolerance used to determine whether the EE has reached the goal
 
virtual void setGoalTolerance (EcReal value)
 sets the tolerance used to determine whether the EE has reached the goal
 
virtual EcReal randomExtendProbability () const
 gets the probability used to determine whether to extend the tree randomly or towards the goal
 
virtual void setRandomExtendProbability (EcReal value)
 
virtual EcReal collisionThreshold () const
 get the threshold used in collision detection
 
virtual void setCollisionThreshold (EcReal value)
 set the threshold used in collision detection
 
virtual EcBoolean alwaysAddNodes () const
 get whether to always add nodes to the tree when incrementally moving towards the goal
 
virtual void setAlwaysAddNodes (EcBoolean value)
 set whether to always add nodes to the tree when incrementally moving towards the goal
 
virtual const EcConvergenceToolContainerconvergenceToolContainer () const
 get the convergence tool container
 
virtual EcConvergenceToolContainerconvergenceToolContainer ()
 get the convergence tool container – non-const version
 
virtual void setConvergenceToolContainer (const EcConvergenceToolContainer &value)
 set the convergence tool container
 
virtual void setConvergenceTool (const EcConvergenceTool &value)
 set the convergence tool
 
virtual const EcSolutionFinderContainersolutionFinderContainer () const
 
virtual EcSolutionFinderContainersolutionFinderContainer ()
 get the solution finder container – non-const version
 
virtual void setSolutionFinderContainer (const EcSolutionFinderContainer &value)
 set the solution finder container
 
virtual const EcPositionStateVectorpredefinedPositionStates () const
 get the predefined position states
 
virtual void setPredefinedPositionStates (const EcPositionStateVector &value)
 
virtual const EcRrtUtilityContainerrrtUtilityContainer () const
 get the RRT utility container
 
virtual EcRrtUtilityContainerrrtUtilityContainer ()
 get the RRT utility container – non-const version
 
virtual void setRrtUtilityContainer (const EcRrtUtilityContainer &value)
 set the RRT utility container
 
virtual void setRrtUtility (const EcRrtUtility &value)
 set the RRT utility
 
virtual const EcPathShorteningToolpathShorteningTool () const
 get the path shortening tool
 
virtual void setPathShorteningTool (const EcPathShorteningTool &value)
 set the path shortening tool
 
virtual const EcXmlStringVectorvirtualObstacleFiles () const
 Get the names of files that contain virtual obstacles (as EcIndividualManipulator) against which the path planner should avoid collision.
 
virtual void setVirtualObstacleFiles (const EcXmlStringVector &value)
 Set the names of files that contain virtual obstacles.
 
virtual const EcCoordinateSystemTransformationVectorvirtualObstacleLocations () const
 Get the list of locations of the virtual obstacles.
 
virtual void setVirtualObstacleLocations (const EcCoordinateSystemTransformationVector &value)
 Set the list of locations of the virtual obstacles.
 
virtual void setStatedSystem (const EcStatedSystem &pSystem, EcFoundCommon::DeepCopyFlag copyFlag=EcFoundCommon::CopySystem)
 
virtual void setState (const EcManipulatorSystemState &state)
 set the state
 
virtual EcBoolean setPositionController (const EcPositionController &pController, EcU32 eeSetIndex=EcVelocityController::JOINT_CONTROL_INDEX)
 set the position controller
 
virtual void setTestPath (const EcPositionStateVector &value)
 
virtual void clearTestPath ()
 clear the test path
 
virtual EcBoolean calculatePath (const EcPositionState &initial, const EcManipulatorEndEffectorPlacement &goal, EcPath &path, EcReal &elapsedTime, EcBoolean &straightLine, EcString &reasonForFailure)
 
virtual EcBoolean calculatePathToJointGoal (const EcPositionState &initial, const EcPositionState &goal, EcPath &path, EcReal &elapsedTime, EcString &reasonForFailure)
 
virtual void computePlacement (EcTreeNode &node)
 
virtual void setPathCalculationParams (const EcPositionState &initial, const EcManipulatorEndEffectorPlacement &goal, EcBoolean tryStraightLine=EcTrue)
 set the parameters for path calculation to placement goal in a separate thread
 
virtual void setJointGoalPathCalculationParams (const EcPositionState &initial, const EcPositionState &goal)
 set the parameters for path calculation to joint goal in a separate thread
 
virtual void getResults (Results &results) const
 get the results of path calculation when computed in a separate thread
 
virtual void getResults (EcPath &path, EcReal &time) const
 
virtual void getResults (EcBoolean &straightLine, EcPath &path, EcReal &time, EcManipulatorEndEffectorPlacement &goal) const
 
virtual void addNode (EcSizeT &nbrNodeIndex, EcTreeNode &node)
 
virtual void updateCost (EcSizeT nbrNodeIndex, const EcTreeNode &node)
 
virtual EcBoolean pathShorteningEnabled () const
 
virtual void setPathShorteningEnabled (const EcBoolean &pathShorteningEnabled)
 
virtual EcBoolean planningStopped () const
 flag indicating stop has been issued
 
virtual EcReal distance (const EcPositionState &state1, const EcPositionState &state2)
 get the distance between two state
 
virtual void addToExcludeList (EcU32 manipIndex)
 
virtual void removeFromExcludeList (EcU32 manipIndex)
 remove the manipulator specified by manipIndex from the exclude list
 
virtual EcBoolean calculate (EcString &reasonForFailure)
 calcuate the path. Normally, this takes a long time so it should be called in a separate thread.
 
virtual void stopCalculating ()
 call this to stop path calculation early.
 
virtual const EcIndividualManipulatorVectorvirtualObstacles () const
 
virtual void setVirtualObstacles (const EcIndividualManipulatorVector &value)
 set the virtual obstacles
 
virtual EcBoolean checkCollisionFree (const EcStatedSystem *pStatedSystem, const EcPositionState &posState)
 check whether the given position state is collision free using collisionThreshold()
 
- Public Member Functions inherited from EcXmlCompoundType
 ECDECLARE_BIGFOUR (EcXmlCompoundType)
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 xmlInitialize
 
virtual EcBoolean readAttributes (EcXmlReader &stream)
 read object attributes from an XML stream
 
virtual EcBoolean readElements (EcXmlReader &stream)
 read object elements from an XML stream
 
virtual EcBoolean write (EcXmlWriter &stream) const EC_OVERRIDE
 write object to an XML stream
 
virtual EcBoolean writeAttributes (EcXmlWriter &stream) const
 write object attributes to an XML stream
 
virtual EcBoolean writeElements (EcXmlWriter &stream) const
 write object elements to an XML stream
 
virtual EcBoolean writeSchema (EcXmlSchema &stream) const EC_OVERRIDE
 write schema
 
virtual EcBoolean writeSchemaAttributes (EcXmlSchema &stream) const
 write schema attributes
 
virtual EcBoolean writeSchemaElements (EcXmlSchema &stream) const
 write schema elements
 
virtual void registerComponent (const EcToken &token, EcXmlObject *obj)
 register a single component More...
 
virtual void registerComponent (EcXmlObject *obj)
 register a single component More...
 
virtual void registerComponentReadOnly (const EcToken &token, EcXmlObject *obj)
 register a single component as read-only More...
 
virtual const EcXmlComponentMapcomponentMap () const
 get a reference to the component map
 
virtual void registerAttributeComponent (const EcToken &AttribToken, EcXmlObject *Obj)
 register a single attribute component More...
 
virtual void registerAttributeComponentReadOnly (const EcToken &AttribToken, EcXmlObject *Obj)
 register a single attribute component read-only More...
 
virtual const EcXmlComponentMapattributeComponentMap ()
 get a reference to the component attribute map
 
virtual const EcXmlSpecialDescriptorMapspecialDescriptorMap ()
 get a reference to the special-descriptor map
 
virtual void registerComponentDescriptor (const EcToken &xmlToken, const EcToken &descriptorToken, const EcString &descriptorString)
 register an XML token-string descriptor More...
 
virtual const EcXmlTokenStringDescriptorMapMaptokenStringDescriptorMap ()
 get a reference to the XML token-string descriptor map
 
virtual EcBoolean hasChildren () const
 return EcTrue if there are children components or EcFalse if an empty element.
 
virtual EcBoolean hasAttributes () const
 return EcTrue if there are attributes in the element.
 
- Public Member Functions inherited from EcXmlObject
 ECDECLARE_BIGFOUR (EcXmlObject)
 
virtual EcXmlObjectclone () const =0
 clone
 
virtual EcBoolean readAttribute (EcXmlReader &stream)
 read this attribute from an XML stream
 
virtual EcBoolean createSchema (const EcString &filename, const EcToken &objectName=EcXml::EcDefaultToken) const
 create schema
 
virtual EcBoolean xmlInitialized () const
 get XML initialized flag. This bit is set on initialization.
 
virtual void setXmlInitialized (EcBoolean val=EcTrue)
 set XML initialized flag. This bit is set on initialization.
 
virtual EcBoolean specified () const
 get specified flag. This bit is set upon reading from an XML file.
 
virtual void setSpecified (EcBoolean val=EcTrue)
 set specified flag. This bit is set upon reading from an XML file.
 
virtual EcBoolean isBasicType () const
 Return true/false for basic type.
 
virtual EcBoolean equalsDefault () const
 tests equality of XML object with default
 
virtual EcBoolean equality (const EcXmlObject *other) const =0
 equality - a virtual equality to an EcXmlObject pointer
 
virtual EcXmlObjectnewObject () const =0
 creates new object - a virtual new to an EcXmlObject pointer
 
virtual const EcTokentoken () const =0
 gets the xml token used for writing out.
 

Static Public Member Functions

static EcXmlObjectcreator ()
 

Protected Member Functions

virtual EcBoolean extendTowardsGoal (const EcTreeNode &goal, EcSizeT &lastNodeIndex, EcBoolean popHeap=EcTrue)
 extend the tree towards the goal
 
virtual EcBoolean converge (EcSizeT &lastNodeIndex, EcTreeNode &lastSafeNode)
 
virtual void modifyCollisionExclusionMap ()
 modify the collision exclusion map when there's attachment if necessary
 
virtual void connectPredefinedNodes (EcTree &tree, std::set< std::pair< EcSizeT, EcSizeT > > &addedNodes)
 connect the predefined nodes with a given tree
 
virtual EcBoolean tryTestPath (const EcPositionState &initial, const EcManipulatorEndEffectorPlacement &goal, EcPath &path)
 try generating collision-free path from test path for EE goal
 
virtual EcBoolean tryTestPathToJointGoal (const EcPositionState &initial, const EcPositionState &goal, EcPath &path)
 try generating collision-free path from test path for joint goal
 
virtual EcBoolean checkPathForCollision (const EcPath &path)
 check whether the path is collision free
 
virtual EcBoolean maxTimeExceeded () const
 check whether the calculation time has exceeded the max time allowed
 
virtual EcBoolean connectInitAndGoalTrees (EcSizeT initNodeIndex, EcSizeT goalNodeIndex, EcPath &path, EcInt32 shortenIterations=-1)
 connect the init and goal trees
 
virtual void seedWithGoalNode (EcBoolean jointSpace) const
 seed the random number generator with the goal node
 
virtual EcBoolean populateInitTreeAndGoalHeap ()
 populate m_InitTree and m_GoalHelp
 
- Protected Member Functions inherited from EcXmlCompoundType
virtual EcBoolean readValueFromToken (const EcToken &token, EcXmlReader &stream)
 
virtual EcBoolean readValueFromSpecialToken (const EcToken &token, EcXmlReader &stream)
 read value from unregistered token
 
virtual EcBoolean readAttributeFromToken (const EcToken &token, EcXmlReader &stream)
 
virtual EcXmlComponentMapnewComponentMap () const
 allocate a new componentMap
 
virtual EcXmlSpecialDescriptorMapnewSpecialDescriptorMap ()
 allocate a new specialDescriptorsMap
 
virtual EcXmlTokenStringDescriptorMapMapnewTokenStringDescriptorMap ()
 allocate a new tokenStringDescriptorsMap
 
virtual void createComponentMap () const
 create component map
 
virtual void createAttributeComponentMap ()
 create attribute component map
 
virtual void createSpecialDescriptorMap ()
 create special-descriptors map
 
virtual void createTokenStringDescriptorMap ()
 create token-string descriptor map
 
virtual EcBoolean isReadOnlyComponent (const EcToken token) const
 check to see if the token corresponds to a read-only component
 
virtual EcBoolean isReadOnlyAttribute (const EcToken token) const
 check to see if the token corresponds to a read-only attribute
 
virtual EcXmlObjectlibraryAttribute ()
 

Protected Attributes

EcXmlU32 m_MaxIterations
 the maximum iterations
 
EcXmlReal m_MaxTime
 the maximum time
 
EcXmlReal m_StepSize
 the step size used to extend and connect
 
EcXmlReal m_CollisionStepSize
 the step size used in collision check
 
EcXmlReal m_NeighborTolerance
 tolerance for neighbor proximity
 
EcXmlReal m_GoalTolerance
 tolerance for goal proximity
 
EcXmlReal m_RandomExtendProbability
 probability threshold
 
EcXmlReal m_CollisionThreshold
 collision threshold
 
EcXmlBoolean m_AlwaysAddNodes
 always add the nodes
 
EcConvergenceToolContainer m_ConvergenceToolContainer
 convergence tool container
 
EcRrtUtilityContainer m_RrtUtilityContainer
 RRT callback container.
 
EcPositionStateVector m_PredefinedPositionStates
 predefined position states
 
EcPathShorteningTool m_PathShorteningTool
 path shortening tool
 
EcXmlBoolean m_UsePathShortening
 Option to use path shortening tool.
 
EcXmlBoolean m_UseTestPath
 Option to use test path if available.
 
EcXmlStringVector m_VirtualObstacleFiles
 The names of files that contain virtual obstacles (as EcIndividualManipulator) against which the path planner should avoid collision.
 
EcCoordinateSystemTransformationVector m_VirtualObstacleLocations
 The list of locations of the virtual obstacles.
 
EcSolutionFinderContainer m_SolutionFinderContainer
 the joint solution finder container
 
EcConvergenceTool m_DeprecatedConvergenceTool
 
EcU32 m_ManipIndex
 The manipulator index.
 
EcStatedSystemm_pStatedSystem
 pointer to stated system
 
EcEndEffectorSet m_EndEffectorSet
 the end-effector set
 
EcTreeNode m_InitNode
 the init node
 
EcTree m_InitTree
 The tree that initially contains the initial node.
 
boost::scoped_ptr< EcRrtAlgorithmm_RrtPtr
 The underlying RRT algorithm.
 
EcMinHeap m_GoalHeap
 The heap used to determine which node to be selected to connect to the goal.
 
EcTreeNode m_GoalNode
 The goal node.
 
EcTree m_GoalTree
 The tree that initially contains the goal node.
 
EcBoolean m_TryStraightLine
 whether to try straight line motion for EE path planning calculation
 
EcPositionState m_InitialState
 the initial state for path calculation
 
EcManipulatorEndEffectorPlacement m_GoalPlacement
 the goal placement for path calculation
 
EcPositionState m_GoalState
 the goal state for path calculation
 
EcPath m_Path
 the path
 
EcReal m_ElapsedTime
 the time it took to calculate the path
 
EcBoolean m_JointGoalPathCalculation
 flag whether path to joint goal or placement goal
 
EcBoolean m_IsCalculating
 flag whether the path is being calculated
 
EcBoolean m_PlanningStopped
 flag indicating whether stopPlanning has been issued
 
EcBoolean m_StraightLinePath
 flag whether the straight line path is successful
 
EcBooleanVector m_PredefinedStateCollisionFreeFlags
 flags used to determine whether predefined states are collision-free
 
EcBooleanVector m_PredefinedStateValidFlags
 flags used to determine whether predefined states are valid
 
EcBoolean m_TestPathUsed
 whether the test was used to generate the collision-free path
 
EcPositionStateVector m_TestPath
 the path to test before calculating collision-free path
 
EcPositionState m_CurrentState
 the starting position state used in extendTowardsGoal
 
std::set< EcU32m_ExcludeList
 
EcMicroTimer m_Timer
 timer used to get the time for path calculation
 
EcIndividualManipulatorVector m_VirtualObstacles
 virtual obstacles (as EcIndividualManipulator) against which the path planner should avoid collision
 
- Protected Attributes inherited from EcXmlCompoundType
EcXmlComponentMapm_pComponentMap
 
EcXmlComponentMapm_pAttributeComponentMap
 
EcXmlSpecialDescriptorMapm_pSpecialDescriptorMap
 
EcXmlTokenStringDescriptorMapMapm_pComponentMapTokenStringDescriptor
 
- Protected Attributes inherited from EcXmlObject
EcU8 m_State
 the state of the object - eight boolean flags
 

Additional Inherited Members

- Public Types inherited from EcXmlCompoundType
enum  {
  READONLYCOMPONENT = 0,
  READONLYATTRIBUTE
}
 special-descriptor codes More...
 
- Static Protected Attributes inherited from EcXmlObject
static const EcU8 m_theXmlInitializedBit
 the bit used to describe xml initialization
 
static const EcU8 m_theSpecifiedBit
 the bit used to describe specification
 

Detailed Description

The EcRrtPathPlanner class implements a path planner using Actin control and Rapidly-exploring Random Tree.

Examples:
ecPathPlanningCoreMain.cpp, and ecPathPlanningMain.cpp.

Definition at line 40 of file ecRrtPathPlanner.h.

Member Function Documentation

virtual void EcRrtPathPlanner::addToExcludeList ( EcU32  manipIndex)
virtual

add the manipulator specified by manipIndex to the exclude list. The exclude list signifies that collisions between the robot and manipulators in this list should not be considered when calculating collision-free path

virtual EcBoolean EcRrtPathPlanner::calculatePath ( const EcPositionState initial,
const EcManipulatorEndEffectorPlacement goal,
EcPath &  path,
EcReal elapsedTime,
EcBoolean straightLine,
EcString reasonForFailure 
)
virtual

calculate a collision-free path from initial to goal.

Parameters
initialThe initial configuration. Must be collision-free.
goalThe goal placement.
[out]pathThe calculated path, which is a sequence of nodes. Only valid if this method returns true.
[out]elapsedTimeThe time it takes to calculate the path. Will be less than maxTime.
[out]straightLineIf true, it means that the straight line path can successfully move the robot towards the goal.
[out]reasonForFailureThe string containing the reason why calculatePath failed
Returns
True if a collision-free path that connects initial to goal is found or false otherwise.

Reimplemented in EcRoadmapRrtPathPlanner.

virtual EcBoolean EcRrtPathPlanner::calculatePathToJointGoal ( const EcPositionState initial,
const EcPositionState goal,
EcPath &  path,
EcReal elapsedTime,
EcString reasonForFailure 
)
virtual

calculate a collision-free path from initial to goal.

Parameters
initialThe initial configuration. Must be collision-free.
goalThe goal placement.
[out]pathThe calculated path, which is a sequence of nodes. Only valid if this method returns true.
[out]elapsedTimeThe time it takes to calculate the path. Will be less than maxTime.
[out]reasonForFailureThe string containing the reason why calculatePathToJointGoal failed
Returns
True if a collision-free path that connects initial to goal is found or false otherwise.

Reimplemented in EcRoadmapRrtPathPlanner.

virtual void EcRrtPathPlanner::computePlacement ( EcTreeNode node)
virtual

compute the placement given the state in the node and then set the placement in the node

static EcXmlObject* EcRrtPathPlanner::creator ( )
static

static creator function

Returns
XML object created during XML loading
virtual void EcRrtPathPlanner::getResults ( EcPath &  path,
EcReal time 
) const
virtual

get the results of path calculation when computed in a separate thread

Parameters
pathThe collision-free path (in joint space)
timeThe time it took to calculate the path
virtual void EcRrtPathPlanner::getResults ( EcBoolean straightLine,
EcPath &  path,
EcReal time,
EcManipulatorEndEffectorPlacement goal 
) const
virtual

get the results of path calculation when computed in a separate thread

Parameters
straightLineIf true, it means that the straight line path can successfully move the robot towards the goal. This is only valid for when calculating a path to an EE goal, not joint goal. Also, if this is true, Then, goal will be set to the desired EE goal and path will not be set.
pathThe collision-free path (in joint space)
timeThe time it took to calculate the path
goalThe end-effector goal
virtual EcU32 EcRrtPathPlanner::maxIterations ( ) const
virtual

gets the maximum iterations.

virtual EcBoolean EcRrtPathPlanner::read ( EcXmlReader stream)
virtual

read object from an XML stream

Reimplemented from EcXmlCompoundType.

Reimplemented in EcRoadmapRrtPathPlanner.

virtual void EcRrtPathPlanner::setCollisionStepSize ( EcReal  value)
virtual

sets the step size used to check collision. It should be small enough so that there's no need to check for collision between steps.

virtual void EcRrtPathPlanner::setMaxIterations ( EcU32  value)
virtual

sets the maximum iterations

virtual void EcRrtPathPlanner::setPredefinedPositionStates ( const EcPositionStateVector value)
virtual

set the predefined position states. These can potentially help speed up calculatePath() method if some of these predefined states can be connected to the initial node and the goal in a collision-free fashion.

virtual void EcRrtPathPlanner::setRandomExtendProbability ( EcReal  value)
virtual

sets the probability used to determine whether to extend the tree randomly or towards the goal Must be between 0 and 1 inclusive. 1 means the tree always extends randomly while 0 means it always extends towards goal

virtual void EcRrtPathPlanner::setStatedSystem ( const EcStatedSystem pSystem,
EcFoundCommon::DeepCopyFlag  copyFlag = EcFoundCommon::CopySystem 
)
virtual

set the stated system. Note that a copy of the stated system will be made. For two reasons, (1) the convergence tool needs a non-const instance of the stated system. (2) the path planner normally asynchronously in a different thread, therefore we use const pointer, it can't be guaranteed that the pointer won't change. The implication of this is that if there's a change in the system, it will incur a cost of copying the system. We can copy the system in two ways. One is to copy the system, except shape information. The shapes will then be shared. This is faster and has less memory footprint. However, if the bounding volumes (or the shapes themselves that are used in distance calculations) are of physical extent types (i.e. not primitive types), then we need to use EcFoundCommon::CopyShape since calculation of distances involving those shapes are not thread-safe and therefore the shapes must be copied as well.

Reimplemented in EcRoadmapRrtPathPlanner.

Examples:
ecPathPlanningCoreMain.cpp, and ecPathPlanningMain.cpp.
virtual void EcRrtPathPlanner::setTestPath ( const EcPositionStateVector value)
virtual

set the test path which is path to test before calculating collision-free path. This is to be able to reuse a path that has been calculated and stored somewhere

virtual const EcSolutionFinderContainer& EcRrtPathPlanner::solutionFinderContainer ( ) const
virtual

get the solution finder container. It is used to find a joint solution to a given EE placement. Can be used in the two-stage process of path planning.

virtual const EcIndividualManipulatorVector& EcRrtPathPlanner::virtualObstacles ( ) const
virtual

get the virtual obstacles. These are obstacles that do not exist physically and are used to limit where the path planner can plan the path

Member Data Documentation

EcConvergenceTool EcRrtPathPlanner::m_DeprecatedConvergenceTool
protected

Definition at line 640 of file ecRrtPathPlanner.h.

std::set<EcU32> EcRrtPathPlanner::m_ExcludeList
protected

the exclude list signifies that collisions between the robot and manipulators in this list should not be considered when calculating collision-free path

Definition at line 686 of file ecRrtPathPlanner.h.


The documentation for this class was generated from the following file:
Created by Energid Technologies www.energid.com
Copyright © 2016 Energid. All trademarks mentioned in this document are property of their respective owners.