Actin  Version 5.5.5
Software for Robotics Simulation and Control
EcManipulatorMotionRrtPlan Class Reference

RRT planning. More...

#include <ecManipulatorMotionRrtPlan.h>

Inheritance diagram for EcManipulatorMotionRrtPlan:
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Collaboration diagram for EcManipulatorMotionRrtPlan:
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Public Types

enum  ParameterType {
  RRTPLAN_PARAM_PLANNER_MAXTIME,
  RRTPLAN_PARAM_PLANNER_STEPSIZE,
  RRTPLAN_PARAM_COLLISION_STEPSIZE,
  RRTPLAN_PARAM_COLLISION_THRESHOLD,
  RRTPLAN_PARAM_PATHSHORTENING_ITERATIONS,
  RRTPLAN_PARAM_PATHSHORTENING_TOLERANCE,
  RRTPLAN_PARAM_PATHCACHING,
  RRTPLAN_PARAM_SAMPLINGDATACACHING,
  RRTPLAN_PARAM_MOTION_SPEEDFACTOR,
  RRTPLAN_PARAM_MOTION_ACCELERATIONFACTOR,
  RRTPLAN_PARAM_MOTION_TOLERANCE
}
 param type
 
typedef std::map< EcString, ParameterTypeEcManipulatorMotionRrtPlanParamMap
 parameter map type for script parsing
 
- Public Types inherited from EcMotionScriptObject
enum  Status {
  NOT_STARTED,
  IN_PROGRESS,
  STOPPING,
  PAUSED,
  SUCCEEDED,
  FAILED
}
 status
 

Public Member Functions

 EcManipulatorMotionRrtPlan ()
 default constructor
 
virtual const EcStringtoken () const EC_OVERRIDE
 token More...
 
virtual EcBoolean read (const EcMotionScriptTokenTree &tokenTree, EcString *pErrorMsg) EC_OVERRIDE
 read list More...
 
virtual EcString write () const EC_OVERRIDE
 write to script More...
 
virtual Status run (EcBaseControlSystemModifier &modifier, const EcReal currentTime) EC_OVERRIDE
 run the script More...
 
virtual void restart () EC_OVERRIDE
 restart by setting the status to NOT_STARTED More...
 
EcReal maxTime () const
 get Max Time in seconds
 
void setMaxTime (const EcMotionScriptRealObjectSharedPtr &maxTime)
 set Max Time in seconds
 
void setMaxTime (EcReal maxTime)
 set Max Time in seconds
 
EcReal stepSize () const
 get step size in radians
 
void setStepSize (const EcMotionScriptRealObjectSharedPtr &stepSize)
 set step size in radians
 
void setStepSize (EcReal stepSize)
 set step size in radians
 
EcReal collisionStepSize () const
 get collision stepsize
 
void setCollisionStepSize (const EcMotionScriptRealObjectSharedPtr &stepSize)
 set collision stepsize
 
void setCollisionStepSize (EcReal stepSize)
 set collision stepsize
 
EcReal collisionThreshold () const
 get collision threshold
 
void setCollisionThreshold (const EcMotionScriptRealObjectSharedPtr &threshold)
 set collision threshold
 
void setCollisionThreshold (EcReal threshold)
 set collision tolerance
 
EcU32 pathShorteningIterations () const
 
void setPathShorteningIterations (const EcMotionScriptU32ObjectSharedPtr &numIterations)
 
void setPathShorteningIterations (EcU32 numIterations)
 
EcReal pathShorteningTolerance () const
 get path shortening tolerance
 
void setPathShorteningTolerance (const EcMotionScriptRealObjectSharedPtr &tolerance)
 set path shortening tolerance
 
void setPathShorteningTolerance (EcReal tolerance)
 set path shortening tolerance
 
EcReal speedFactor () const
 get Speed Factor
 
void setSpeedFactor (const EcMotionScriptRealObjectSharedPtr &factor)
 set Speed Factor
 
void setSpeedFactor (EcReal factor)
 set Speed Factor
 
EcReal accelerationFactor () const
 get Acceleration Factor
 
void setAccelerationFactor (const EcMotionScriptRealObjectSharedPtr &factor)
 set Acceleration Factor
 
void setAccelerationFactor (EcReal factor)
 set Acceleration Factor
 
EcReal tolerance () const
 get tolerance
 
void setTolerance (const EcMotionScriptRealObjectSharedPtr &tolerance)
 set tolerance
 
void setTolerance (EcReal tolerance)
 set tolerance
 
- Public Member Functions inherited from EcBaseManipulatorMotion
void setManipulatorIndex (const EcU32 manipIndex)
 set manipulator index
 
void setManipulatorIndex (const EcMotionScriptU32ObjectSharedPtr &pManipIndex)
 set manipulator index
 
const EcMotionScriptU32ObjectSharedPtr & manipulatorIndex () const
 get manipulator index
 
void setMotionId (const EcInt32 id)
 Set the motion ID.
 
EcInt32 motionId () const
 Get the motion ID.
 
- Public Member Functions inherited from EcMotionScriptObject
 EcMotionScriptObject ()
 default constructor
 
virtual ~EcMotionScriptObject ()
 destructor
 
Status status () const
 get status
 
EcReal progress () const
 get progress in [0, 1]
 
virtual EcBoolean setContainer (EcBaseMotionScriptContainer *pContainer)
 set the container More...
 
virtual EcMotionScriptObjectclone (EcBaseMotionScriptContainer *pContainer) const
 Clone with container. More...
 
EcBoolean readWithContainer (const EcMotionScriptTokenTree &tokenTree, EcBaseMotionScriptContainer *pContainer, EcString *pErrorMsg)
 read with container
 
virtual void pause ()
 request to pause
 
virtual void resume ()
 request to resume
 

Static Public Member Functions

static EcMotionScriptObjectnewObject ()
 motion script object creator
 
static const EcStringscriptToken ()
 script token
 
- Static Public Member Functions inherited from EcMotionScriptObject
static EcMotionScriptSharedPtr parseScript (const EcString &script, EcString *pErrorMsg)
 parse script
 
static EcMotionScriptSharedPtr parseScript (const EcMotionScriptTokenTree &tokenTree, EcBaseMotionScriptContainer *pContainer, EcString *pErrorMsg)
 parse script
 
static EcBoolean isKeyword (const EcString &symbol)
 is keyword
 
static EcBoolean tokenize (const EcString &script, EcStringList &tokens, EcString *pErrorMsg)
 tokenize
 
static EcBoolean readFromTokens (EcStringList &tokens, EcMotionScriptTokenTree &tokenTree, EcString *pErrorMsg)
 read from tokens
 
static EcBoolean registerScript (const EcString &scriptToken, const EcMotionScriptObjectCreator &creator)
 
static EcStringSet registeredScriptTokens ()
 

Protected Attributes

EcMotionScriptRealVectorObjectSharedPtr m_pTargetJoints
 
EcMotionScriptRealObjectSharedPtr m_pPlannerMaxTime
 default value: 5.0
 
EcMotionScriptRealObjectSharedPtr m_pPlannerStepSize
 default value: 0.5
 
EcMotionScriptRealObjectSharedPtr m_pCollisionStepSize
 default value: 0.02
 
EcMotionScriptRealObjectSharedPtr m_pCollisionThreshold
 default value: 0.1
 
EcMotionScriptU32ObjectSharedPtr m_pPathShorteningIterations
 default value: 1
 
EcMotionScriptRealObjectSharedPtr m_pPathShorteningTolerance
 default value: 0.02
 
EcMotionScriptRealObjectSharedPtr m_pMotionSpeedFactor
 default value: 1.0
 
EcMotionScriptRealObjectSharedPtr m_pMotionAccelerationFactor
 default value: 1.0
 
EcMotionScriptRealObjectSharedPtr m_pMotionTolerance
 default value: 0.001
 
EcBoolean m_UsePathCaching
 name of the data map string script
 
EcMotionScriptStringObjectSharedPtr m_pPathScriptName
 skip if not used
 
EcMotionScriptRealObjectSharedPtr m_pAssertThreshold
 skip if not used
 
EcBoolean m_UseSamplingDataCaching
 
EcMotionScriptStringObjectSharedPtr m_pRandomSeedName
 data map key for the random seed used
 
EcMotionScriptStringObjectSharedPtr m_pNumberOfSamplesName
 data map key for the number of generated samples
 
EcMotionScriptSequence m_MotionSequence
 
EcRrtPathPlanner m_PathPlanner
 
EcCoordinatedJointEndEffectorTool m_JointEeTool
 
- Protected Attributes inherited from EcBaseManipulatorMotion
EcMotionScriptU32ObjectSharedPtr m_pManipIndex
 manipulator index
 
EcInt32 m_MotionId
 the motion ID, currently only used by the group motion manager
 
- Protected Attributes inherited from EcMotionScriptObject
EcBaseMotionScriptContainerm_pContainer
 the container
 
Status m_Status
 motion status
 
EcReal m_Progress
 motion script progress in [0, 1]
 
EcBoolean m_PauseFlag
 

Static Protected Attributes

static const EcManipulatorMotionRrtPlanParamMap m_RrtPlanParamMap
 
static const EcReal m_DefaultPlannerMaxTime
 
static const EcReal m_DefaultPlannerStepSize
 
static const EcReal m_DefaultCollisionStepSize
 
static const EcReal m_DefaultCollisionThreshold
 
static const EcU32 m_DefaultPathShorteningIterations
 
static const EcReal m_DefaultPathShorteningTolerance
 
static const EcReal m_DefaultMotionSpeedFactor
 
static const EcReal m_DefaultMotionAccelerationFactor
 
static const EcReal m_DefaultMotionTolerance
 

Detailed Description

RRT planning.

Plan a path in joint space for a manipulator, move along the path.

Definition at line 24 of file ecManipulatorMotionRrtPlan.h.

Member Function Documentation

EcU32 EcManipulatorMotionRrtPlan::pathShorteningIterations ( ) const

get path shortening number of iterations

See also
EcPathShorteningTool::iterations
virtual EcBoolean EcManipulatorMotionRrtPlan::read ( const EcMotionScriptTokenTree tokenTree,
EcString pErrorMsg 
)
virtual

read list

(rrt_plan <manip_id> <desired_joint> [(<para_0_str> <para_0_value>) ...])

Implements EcMotionScriptObject.

virtual void EcManipulatorMotionRrtPlan::restart ( )
virtual

restart by setting the status to NOT_STARTED

Implements EcBaseManipulatorMotion.

virtual Status EcManipulatorMotionRrtPlan::run ( EcBaseControlSystemModifier modifier,
const EcReal  currentTime 
)
virtual

run the script

Implements EcBaseManipulatorMotion.

void EcManipulatorMotionRrtPlan::setPathShorteningIterations ( const EcMotionScriptU32ObjectSharedPtr &  numIterations)

set path shortening number of iterations

See also
EcPathShorteningTool::setIterations
void EcManipulatorMotionRrtPlan::setPathShorteningIterations ( EcU32  numIterations)

set path shortening number of iterations

See also
EcPathShorteningTool::setIterations
virtual const EcString& EcManipulatorMotionRrtPlan::token ( ) const
virtual

token

Implements EcMotionScriptObject.

virtual EcString EcManipulatorMotionRrtPlan::write ( ) const
virtual

write to script

Implements EcMotionScriptObject.


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