Drake
 All Classes Files Functions Variables
JointSpaceMotionPlanningTree Class Reference
Inheritance diagram for JointSpaceMotionPlanningTree:
Collaboration diagram for JointSpaceMotionPlanningTree:

Public Member Functions

function JointSpaceMotionPlanningTree (rbm)
 
function compile (obj)
 
function addKinematicConstraint (obj, varargin)
 
function setNominalConfiguration (obj, q)
 
function solveIK (obj, q_seed, q_nom, additional_constraints)
 
function checkKinematicConstraints (obj, q)
 
function checkConstraints (obj, q)
 
function isCollisionFree (obj, q)
 
function addGeometryToWorld (obj, geom)
 
function randomConfig (obj)
 
function drawTree (obj, n_at_last_draw, draw_now)
 
function drawPath (obj, varargin)
 
- Public Member Functions inherited from CartesianMotionPlanningTree
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)
 

Public Attributes

Property rbm
 
Property visualization_point
 
Property min_distance
 
Property active_collision_options
 
Property v
 
Property xyz_vis
 
Property kinematic_constraints
 
Property ikoptions
 
Property q_nom
 
- 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...
 

Additional Inherited Members

- Protected Attributes inherited from VertexArrayMotionPlanningTree
Property V
 
Property parent
 
Property children
 
Property centroid
 

Constructor & Destructor Documentation

Return values
obj

Member Function Documentation

function addGeometryToWorld ( obj  ,
geom   
)
Return values
obj
function addKinematicConstraint ( obj  ,
varargin   
)
Return values
obj
function checkConstraints ( obj  ,
 
)
Return values
valid
function checkKinematicConstraints ( obj  ,
 
)
Return values
valid
function compile ( obj  )
Return values
obj
function drawPath ( obj  ,
varargin   
)
function drawTree ( obj  ,
n_at_last_draw  ,
draw_now   
)
Return values
obj
function isCollisionFree ( obj  ,
 
)
Return values
valid
function randomConfig ( obj  )
Return values
q
function setNominalConfiguration ( obj  ,
 
)
Return values
obj
function solveIK ( obj  ,
q_seed  ,
q_nom  ,
additional_constraints   
)
Return values
q
valid

Member Data Documentation

Property active_collision_options
Property ikoptions
Property kinematic_constraints
Property min_distance
Property q_nom
Property rbm
Property v
Property visualization_point
Property xyz_vis

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