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CartesianMotionPlanningTree Class Reference

Concrete implementation of the MotionPlanningTree interface for planning on $R^n$ with a Euclidean distance metric. More...

Inheritance diagram for CartesianMotionPlanningTree:
Collaboration diagram for CartesianMotionPlanningTree:

Public Member Functions

function CartesianMotionPlanningTree (num_vars)
 
function interpolate (obj, q1, q2, interpolation_parameter)
 q = interpolate(obj, q1, q2, interpolation_parameter) returns points along the line between q1 and q2 at the locations specified by interpolation_parameter. More...
 
function distanceMetric (obj, q1, q_array)
 
function drawTree (obj, n_at_last_draw)
 
function drawPath (obj, varargin)
 
- Public Member Functions inherited from VertexArrayMotionPlanningTree
virtual function interpolate (obj, q1, q2, interpolation_factors)
 
function VertexArrayMotionPlanningTree (num_vars)
 
function init (obj, q_init)
 
function randomSample (obj)
 
function addVertex (obj, q, id_parent)
 
function getVertex (obj, id)
 
function getParentId (obj, id)
 
function isValid (obj, q)
 
function indexIntoArrayOfPoints (obj, q_array, index)
 q = indexIntoArrayOfPoints(obj, q_array, index) returns the index-th point in the array of points q_array. More...
 
function setParentId (obj, id, idParent)
 
function removeVertices (obj, ids)
 Rebuild children arrays. More...
 
function getChildren (obj, parentId)
 
function getCentroid (obj)
 
- Public Member Functions inherited from MotionPlanningTree
function init (obj, q_init)
 
function rrt (obj, x_start, x_goal, options)
 [obj, path_ids, info] = rrt(obj, x_start, x_goal, options) plans a path between x_start and x_goal using the RRT algorithm [1]. More...
 
function rrtConnect (TA, x_start, x_goal, TB, options)
 [TA, path_ids_A, info, TB, path_ids_B] = rrtConnect(TA, x_start, x_goal, TB, options) implements the RRT-Connect algorithm based on the work of Kuffner and LaValle [1]. More...
 
function rrtConnectIteration (TA, TB, goal_bias)
 
function newPoint (obj, q)
 
function extend (obj, q)
 
function connect (obj, q)
 
function attemptToMakeValid (obj, q, valid)
 This default implementation does nothing. More...
 
function extractPath (TA, path_ids_A, TB, path_ids_B)
 
function recursiveConnectSmoothing (obj, path_ids, n_iterations, visualize)
 
function setLCMGL (obj, name, color)
 
function nearestNeighbor (obj, q)
 
function addVertex (obj, q, parent_id)
 
function getPathToVertex (obj, leaf_id)
 
function addPath (obj, T_other, path_ids, id_parent)
 
function drawTree (obj, varargin)
 
function drawPath (obj, varargin)
 
- Public Member Functions inherited from MotionPlanningProblem
function MotionPlanningProblem (num_vars, var_names)
 takes x(obj.x_inds{i}) as its input More...
 
function addConstraint (obj, constraint, x_inds)
 
function checkConstraints (obj, x, varargin)
 

Additional Inherited Members

- Public Attributes inherited from VertexArrayMotionPlanningTree
Property sampling_lb
 The default sampling for this class draws from a uniform distribution whose lower and upper bounds for each element of the sampling_lb and sampling_ub. More...
 
Property sampling_ub
 
- Public Attributes inherited from MotionPlanningTree
Constant Property TRAPPED
 
Constant Property REACHED
 
Constant Property ADVANCED
 
Property N
 Number of nodes for which memory should be pre-allocated. More...
 
Property n
 Number of nodes in the tree. More...
 
Property max_edge_length
 
Property max_length_between_constraint_checks
 
Property line_color
 
Property lcmgl_name
 
Property lcmgl
 
- Public Attributes inherited from MotionPlanningProblem
Property num_vars
 
Property var_names
 
Property constraints
 a cell array of Constraint objects More...
 
Property x_inds
 todo: add differential constraints? control affine only? todo: add objectives? More...
 
- Protected Attributes inherited from VertexArrayMotionPlanningTree
Property V
 
Property parent
 
Property children
 
Property centroid
 

Detailed Description

Concrete implementation of the MotionPlanningTree interface for planning on $R^n$ with a Euclidean distance metric.

Constructor & Destructor Documentation

Parameters
num_varsNumeric scalar indicating the dimension of the space on which the tree is grown
Return values
obj

Member Function Documentation

function distanceMetric ( obj  ,
q1  ,
q_array   
)
virtual
Return values
d

Reimplemented from VertexArrayMotionPlanningTree.

function drawPath ( obj  ,
varargin   
)
Return values
obj
function drawTree ( obj  ,
n_at_last_draw   
)
Return values
obj
function interpolate ( obj  ,
q1  ,
q2  ,
interpolation_parameter   
)

q = interpolate(obj, q1, q2, interpolation_parameter) returns points along the line between q1 and q2 at the locations specified by interpolation_parameter.

Parameters
q1Initial point
q2Final point
interpolation_parameterVector of doubles between 0 and 1, inclusive.
Return values
qnum_vars-by-numel(interpolation_parameter) array. Each column of q is an interpolated point whose position along the line between q1 and q2 is given by the corresponding element of interpolation_paramter:

interpolation_parameter(i) == 0 implies q(:,i) == q1 interpolation_parameter(i) == 1 implies q(:,i) == q2


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