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VertexArrayMotionPlanningTree Class Reference

Partial implementation of MotionPlanningTree that uses the "checkConstraints" functionality of MotionPlanningProblem and stores the vertices of the tree in a num_vars-by-n array. More...

Inheritance diagram for VertexArrayMotionPlanningTree:
Collaboration diagram for VertexArrayMotionPlanningTree:

Public Member Functions

virtual function distanceMetric (obj, q1, q_array)
 
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 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

Property V
 
Property parent
 
Property children
 
Property centroid
 

Detailed Description

Partial implementation of MotionPlanningTree that uses the "checkConstraints" functionality of MotionPlanningProblem and stores the vertices of the tree in a num_vars-by-n array.

Constructor & Destructor Documentation

Return values
obj

Member Function Documentation

function addVertex ( obj  ,
,
id_parent   
)
Return values
obj
id
virtual function distanceMetric ( obj  ,
q1  ,
q_array   
)
virtual

Reimplemented from MotionPlanningTree.

Reimplemented in CompositeVertexArrayTree, and CartesianMotionPlanningTree.

function getCentroid ( obj  )
Return values
centroid
function getChildren ( obj  ,
parentId   
)
Return values
children
function getParentId ( obj  ,
id   
)
virtual
Return values
id_parent

Reimplemented from MotionPlanningTree.

function getVertex ( obj  ,
id   
)
virtual
Return values
q

Reimplemented from MotionPlanningTree.

function indexIntoArrayOfPoints ( obj  ,
q_array  ,
index   
)
virtual

q = indexIntoArrayOfPoints(obj, q_array, index) returns the index-th point in the array of points q_array.

This method exists to allow the MotionPlanningTree interface to be agnostic as to how its child-classes represent the points in their search spaces.

Return values
q

Reimplemented from MotionPlanningTree.

function init ( obj  ,
q_init   
)
Return values
obj
id_last
virtual function interpolate ( obj  ,
q1  ,
q2  ,
interpolation_factors   
)
virtual

Reimplemented from MotionPlanningTree.

Reimplemented in CompositeVertexArrayTree, and TaskSpaceMotionPlanningTree.

function isValid ( obj  ,
 
)
virtual
Return values
valid

Reimplemented from MotionPlanningTree.

function randomSample ( obj  )
virtual
Return values
q

Reimplemented from MotionPlanningTree.

function removeVertices ( obj  ,
ids   
)

Rebuild children arrays.

Return values
obj
function setParentId ( obj  ,
id  ,
idParent   
)
Return values
obj

Member Data Documentation

Property centroid
protected
Property children
protected
Property parent
protected
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.

Property sampling_ub
Property V
protected

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