Drake
 All Classes Files Functions Variables
OptimalTaskSpaceMotionPlanningTree Class Reference

Subclass of motion planning tree that override and add functions to be used with asymptotically optimal versions of RRT algorithms. More...

Inheritance diagram for OptimalTaskSpaceMotionPlanningTree:
Collaboration diagram for OptimalTaskSpaceMotionPlanningTree:

Public Member Functions

function OptimalTaskSpaceMotionPlanningTree (robot, endEffectorId, endEffectorPoint)
 
function init (obj, q_init)
 
function addVertex (obj, q, id_parent, cost)
 
function rebuildTraj (obj, x_goal)
 
function addPointToTraj (obj, point, p1, p2)
 
function rrtStarIteration (obj, status, iter, biasSpacing)
 
function rrtIteration (obj, status, xGoal, iter, biasSpacing)
 
function checkEdge (obj, x1, x2)
 
function goalBias (obj, status, xGoal, iter, spacing)
 
function steer (obj, IdNearest, qNew, d)
 
function newPoint (obj, qRand, status, iter)
 
function nearestNeighbors (obj, q, status, iter)
 
function CollisionFree (obj, q1, q2)
 
function near (obj, q)
 
function cost (obj, idPoint1, idPoint2)
 
function getTrajToGoal (obj, goalId)
 
function drawTrajectory (obj, text)
 
function shortcut (obj)
 
function removeVertices (obj, ids)
 
function adjustChildrenCost (obj, idParent, newCost)
 
- Public Member Functions inherited from TaskSpaceMotionPlanningTree
function TaskSpaceMotionPlanningTree (r, end_effector_id, end_effector_pt)
 
function compile (obj)
 
function setMinDistance (obj, min_distance)
 
function interpolate (obj, q1, q2, interpolation_factors)
 
function isValid (obj, x)
 
function attemptToMakeValid (obj, x, valid)
 
function addKinematicConstraint (obj, varargin)
 
function generateEndEffectorConstraints (obj, x)
 
function setNominalConfiguration (obj, q)
 
function setOrientationWeight (obj, orientation_weight)
 
function setLCMGL (obj, varargin)
 
function drawTree (obj, varargin)
 
function setTranslationSamplingBounds (obj, lb, ub)
 
function drawPath (objA, path_ids_A, objB, path_ids_B)
 
function getRobot (obj)
 
- Public Member Functions inherited from CompositeVertexArrayTree
function CompositeVertexArrayTree (trees, tree_names, weights)
 configureation vector. More...
 
function distanceMetric (obj, q1, q_array)
 
function init (obj, q_init)
 
function isValid (obj, q)
 
function addVertex (obj, q, id_parent)
 
function randomSample (obj)
 
- Public Member Functions inherited from VertexArrayMotionPlanningTree
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 C
 
Property gamma
 
Property steerFactor
 
Property traj
 
Property eta
 
Property costType
 
Property xGoal
 
- Public Attributes inherited from TaskSpaceMotionPlanningTree
Property end_effector_id
 
Property end_effector_pt
 
Property position_tol
 
Property angle_tol
 
Property interp_weight
 
Property tspace_idx
 
Property cspace_idx
 
- Public Attributes inherited from CompositeVertexArrayTree
Property num_trees
 
Property trees
 
Property tree_names
 VertexArrayMotionPlanningTrees. More...
 
Property weights
 is the name of obj.trees{i} More...
 
Property idx
 
- 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
 

Detailed Description

Subclass of motion planning tree that override and add functions to be used with asymptotically optimal versions of RRT algorithms.

It also adds the following properties C cost array gamma RRT* parameter steerFactor radius for the steering function traj indices of the optimal trajectory eta radius for tree rewiring costType type of cost xGoal

Constructor & Destructor Documentation

function OptimalTaskSpaceMotionPlanningTree ( robot  ,
endEffectorId  ,
endEffectorPoint   
)
Return values
obj

Member Function Documentation

function addPointToTraj ( obj  ,
point  ,
p1  ,
p2   
)
Return values
obj
function addVertex ( obj  ,
,
id_parent  ,
cost   
)
Return values
obj
id
function adjustChildrenCost ( obj  ,
idParent  ,
newCost   
)
Return values
obj
function checkEdge ( obj  ,
x1  ,
x2   
)
Return values
valid
qPath
function CollisionFree ( obj  ,
q1  ,
q2   
)
Return values
valid
function cost ( obj  ,
idPoint1  ,
idPoint2   
)
Return values
c
function drawTrajectory ( obj  ,
text   
)
function getTrajToGoal ( obj  ,
goalId   
)
Return values
obj
cost
function goalBias ( obj  ,
status  ,
xGoal  ,
iter  ,
spacing   
)
Return values
qRand
function init ( obj  ,
q_init   
)
Return values
obj
id_last
function near ( obj  ,
 
)
Return values
QNear
q
function nearestNeighbors ( obj  ,
,
status  ,
iter   
)
Return values
d
id_near
d_all
function newPoint ( obj  ,
qRand  ,
status  ,
iter   
)
Return values
qNew
idNearest
valid
function rebuildTraj ( obj  ,
x_goal   
)
Return values
qPath
function removeVertices ( obj  ,
ids   
)
Return values
obj
function rrtIteration ( obj  ,
status  ,
xGoal  ,
iter  ,
biasSpacing   
)
Return values
obj
function rrtStarIteration ( obj  ,
status  ,
iter  ,
biasSpacing   
)
Return values
obj
function shortcut ( obj  )
Return values
obj
function steer ( obj  ,
IdNearest  ,
qNew  ,
 
)
Return values
qNew

Member Data Documentation

Property C
Property costType
Property eta
Property gamma
Property steerFactor
Property traj
Property xGoal

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