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

Public Member Functions

function MultipleTreeProblem (robot, endEffectorId, xStart, xGoal, xStartAddTrees, additionalConstraints, qNom, varargin)
 Class which builds and maintains multiple motion planning trees (i.e. More...
 
function rrtStar (obj, options, xGoal)
 
function mergeTrees (obj, ptAidx, ptBidx, treeAidx, treeBidx, options)
 Merge tree A into B and delete tree A. More...
 
function deleteTree (obj, treeIdx)
 
function nearestNeighbor (obj, q, treeIdx)
 
function computeJacobian (obj, kinSol, joints, endEffector)
 
function checkConstraints (obj, q, constraints)
 

Public Attributes

Property robot
 
Property endEffectorId
 
Property xStart
 
Property xGoal
 
Property endEffectorPoint
 
Property additionalConstraints
 
Property qNom
 
Property mergingThreshold
 
Property minDistance
 
Property trees
 
Property nTrees
 
Property startPoints
 
Property activeCollisionOptions
 
Property status
 
Property iterations
 
Constant Property EXPLORING
 
Constant Property GOAL_REACHED
 
Constant Property SUCCESS
 
Constant Property FAIL_ITERATION_LIMIT
 
Constant Property FAIL_NO_FINAL_POSE
 

Constructor & Destructor Documentation

function MultipleTreeProblem ( robot  ,
endEffectorId  ,
xStart  ,
xGoal  ,
xStartAddTrees  ,
additionalConstraints  ,
qNom  ,
varargin   
)

Class which builds and maintains multiple motion planning trees (i.e.

two or more) and searches to connect them such that a spanning solution can reach a goal Currently uses the RRT* algorithm in the main iteration step.

Return values
obj

Member Function Documentation

function checkConstraints ( obj  ,
,
constraints   
)
Return values
valid
function computeJacobian ( obj  ,
kinSol  ,
joints  ,
endEffector   
)
Return values
J
function deleteTree ( obj  ,
treeIdx   
)
Return values
obj
function mergeTrees ( obj  ,
ptAidx  ,
ptBidx  ,
treeAidx  ,
treeBidx  ,
options   
)

Merge tree A into B and delete tree A.

Return values
obj
prevRoot
function nearestNeighbor ( obj  ,
,
treeIdx   
)
Return values
d
idNearest
treeNearest
function rrtStar ( obj  ,
options  ,
xGoal   
)
Return values
obj
info
cost
qPath

Member Data Documentation

Property activeCollisionOptions
Property additionalConstraints
Property endEffectorId
Property endEffectorPoint
Constant Property EXPLORING
Constant Property FAIL_ITERATION_LIMIT
Constant Property FAIL_NO_FINAL_POSE
Constant Property GOAL_REACHED
Property iterations
Property mergingThreshold
Property minDistance
Property nTrees
Property qNom
Property robot
Property startPoints
Property status
Constant Property SUCCESS
Property trees
Property xGoal
Property xStart

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