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Parasol Planning Library (PPL)
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Parasol Planning Library (PPL)
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#include <WrenchAccessibilityTool.h>
Public Types | |
Motion Planning Types | |
| typedef MPBaseObject::RoadmapType | RoadmapType |
| typedef RoadmapType::VID | VID |
 Public Types inherited from MPBaseObject | |
| typedef DefaultWeight< Cfg > | WeightType |
| typedef GenericStateGraph< Cfg, WeightType > | RoadmapType |
| typedef GroupCfg< RoadmapType > | GroupCfgType |
| typedef GroupLocalPlan< RoadmapType > | GroupWeightType |
| typedef GroupRoadmap< GroupCfgType, GroupWeightType > | GroupRoadmapType |
Public Member Functions | |
Construction | |
| WrenchAccessibilityTool () | |
| WrenchAccessibilityTool (XMLNode &_node) | |
| virtual | ~WrenchAccessibilityTool ()=default |
Problem Interface | |
| void | Initialize () |
| A template function. More... | |
| void | ComputeWrenchAccessibility () |
| Public Member Functions inherited from MPBaseObject | |
| MPBaseObject (const std::string &_label="", const std::string &_name="", bool _debug=false) | |
| MPBaseObject (XMLNode &_node) | |
| virtual | ~MPBaseObject () |
| virtual void | Print (std::ostream &_os) const |
| const std::string & | GetName () const |
| Get the class name for this object. More... | |
| const std::string & | GetLabel () const |
| Get the unique label for this object. More... | |
| std::string | GetNameAndLabel () const |
| Get the unique string identifier for this object "m_name::m_label". More... | |
| void | SetLabel (const std::string &) |
| Set the unique label for this object. More... | |
| void | SetMPLibrary (MPLibrary *) noexcept |
| Set the owning MPLibrary. More... | |
| MPLibrary * | GetMPLibrary () const noexcept |
| Get the owning MPLibrary. More... | |
| bool | IsRunning () const noexcept |
| Check the library's running flag. More... | |
| MPProblem * | GetMPProblem () const noexcept |
| Get the library's current MPProblem. More... | |
| Environment * | GetEnvironment () const noexcept |
| Get the current environment. More... | |
| MPTask * | GetTask () const noexcept |
| Get the current task. More... | |
| GroupTask * | GetGroupTask () const noexcept |
| Get the current group task. More... | |
| MPSolutionType * | GetMPSolution () const noexcept |
| RoadmapType * | GetRoadmap (Robot *const _r=nullptr) const noexcept |
| Get the current free-space roadmap. More... | |
| GroupRoadmapType * | GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept |
| Get the current free-space group roadmap. More... | |
| RoadmapType * | GetBlockRoadmap (Robot *const _r=nullptr) const noexcept |
| Get the current obstacle-space roadmap. More... | |
| Path * | GetPath (Robot *const _r=nullptr) const noexcept |
| GroupPath * | GetGroupPath (RobotGroup *const _g=nullptr) const noexcept |
| Get the current best group path. More... | |
| StatClass * | GetStatClass () const noexcept |
| Get the current StatClass. More... | |
| LocalObstacleMap * | GetLocalObstacleMap () const noexcept |
| Get the local obstacle map. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from MPBaseObject | |
| void | SetName (const std::string &_s) |
| const std::string & | GetBaseFilename () const |
| Protected Attributes inherited from MPBaseObject | |
| bool | m_debug |
| Print debug info? More... | |
Heuristic tool for determining accessibility of a system realization for a wrench. Takes in 6DOF points (x,y,z,roll,pitch,yaw), samlpes disks around these points, and returns an approximation for the largest possible wrench swing.
| WrenchAccessibilityTool::WrenchAccessibilityTool | ( | ) |
| WrenchAccessibilityTool::WrenchAccessibilityTool | ( | XMLNode & | _node | ) |
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virtualdefault |
| void WrenchAccessibilityTool::ComputeWrenchAccessibility | ( | ) |
Compute the wrench accessibility of the set of disks (read from file) by sampling points, performing collision detection on the points, and computing the largest free angle within the disk as a fraction of 2*pi (so in the range [0,1]).
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virtual |
A template function.
Reimplemented from MPBaseObject.
1.9.1