Saba::ElasticBandProcessor Class Reference

The ElasticBandProcessor uses Cartesian distance vectors to move c-space points in order to produce smooth trajectories. More...

Inheritance diagram for Saba::ElasticBandProcessor:

Public Member Functions
	ElasticBandProcessor (CSpacePathPtr path, CSpaceSampledPtr cspace, VirtualRobot::RobotNodePtr node, VirtualRobot::SceneObjectSetPtr obstacles, bool verbose=false)
	~ElasticBandProcessor () override
CSpacePathPtr	optimize (int optimizeSteps) override
	A wrapper to the standard interface. More...
void	setWeights (Eigen::VectorXf w)
	could also be used to disable specific dimensions More...
void	getForces (unsigned int i, Eigen::Vector3f &internalForce, Eigen::Vector3f &externalForce)
Eigen::Vector3f	getWSpacePoint (const Eigen::VectorXf &fc)
Public Member Functions inherited from Saba::PathProcessor
	PathProcessor (CSpacePathPtr p, bool verbose=false)
virtual	~PathProcessor ()
virtual void	stopExecution ()
	Stop the execution from outside. More...
CSpacePathPtr	getOptimizedPath ()

Protected Member Functions
bool	getCSpaceForce (const Eigen::Vector3f &f, Eigen::VectorXf &fc, float factor, float maxForce)
bool	getWSpaceForce (const Eigen::VectorXf &fc, Eigen::Vector3f &f)
bool	getObstacleForce (Eigen::Vector3f &f)
bool	initSolution ()
bool	elasticBandLoop ()
bool	checkRemoveNodes ()
bool	checkNewNodes ()
bool	getNeighborCForce (const Eigen::VectorXf &before, const Eigen::VectorXf &act, const Eigen::VectorXf &next, Eigen::VectorXf &fc)

Protected Attributes
Eigen::VectorXf	weights
CSpaceSampledPtr	cspace
VirtualRobot::RobotNodePtr	node
VirtualRobot::SceneObjectSetPtr	obstacles
VirtualRobot::RobotNodeSetPtr	rns
VirtualRobot::CollisionCheckerPtr	colChecker
VirtualRobot::GenericIKSolverPtr	ik
float	factorCSpaceNeighborForce
float	factorCSpaceObstacleForce
float	maxCSpaceNeighborForce
float	maxCSpaceObstacleForce
float	minObstacleDistance
Protected Attributes inherited from Saba::PathProcessor
CSpacePathPtr	optimizedPath
CSpacePathPtr	path
unsigned int	dim
bool	verbose
bool	stopOptimization

Detailed Description

The ElasticBandProcessor uses Cartesian distance vectors to move c-space points in order to produce smooth trajectories.

Constructor & Destructor Documentation

ElasticBandProcessor()

Saba::ElasticBandProcessor::ElasticBandProcessor	(	CSpacePathPtr	path,
		CSpaceSampledPtr	cspace,
		VirtualRobot::RobotNodePtr	node,
		VirtualRobot::SceneObjectSetPtr	obstacles,
		bool	verbose = false
	)

~ElasticBandProcessor()

Saba::ElasticBandProcessor::~ElasticBandProcessor ( )

overridedefault

Member Function Documentation

checkNewNodes()

bool Saba::ElasticBandProcessor::checkNewNodes ( )

protected

checkRemoveNodes()

bool Saba::ElasticBandProcessor::checkRemoveNodes ( )

protected

elasticBandLoop()

bool Saba::ElasticBandProcessor::elasticBandLoop ( )

protected

getCSpaceForce()

bool Saba::ElasticBandProcessor::getCSpaceForce ( const Eigen::Vector3f &  f, Eigen::VectorXf &  fc, float  factor, float  maxForce  )

protected

getForces()

void Saba::ElasticBandProcessor::getForces	(	unsigned int	i,
		Eigen::Vector3f &	internalForce,
		Eigen::Vector3f &	externalForce
	)

Writes ext and int forces of point i to given variables.

getNeighborCForce()

bool Saba::ElasticBandProcessor::getNeighborCForce ( const Eigen::VectorXf &  before, const Eigen::VectorXf &  act, const Eigen::VectorXf &  next, Eigen::VectorXf &  fc  )

protected

getObstacleForce()

bool Saba::ElasticBandProcessor::getObstacleForce ( Eigen::Vector3f &  f )

protected

getWSpaceForce()

bool Saba::ElasticBandProcessor::getWSpaceForce ( const Eigen::VectorXf &  fc, Eigen::Vector3f &  f  )

protected

getWSpacePoint()

Eigen::Vector3f Saba::ElasticBandProcessor::getWSpacePoint

(

const Eigen::VectorXf &

fc

)

initSolution()

bool Saba::ElasticBandProcessor::initSolution ( )

protected

optimize()

CSpacePathPtr Saba::ElasticBandProcessor::optimize ( int  optimizeSteps )

overridevirtual

A wrapper to the standard interface.

Implements Saba::PathProcessor.

setWeights()

void Saba::ElasticBandProcessor::setWeights

(

Eigen::VectorXf

w

)

could also be used to disable specific dimensions

Field Documentation

colChecker

VirtualRobot::CollisionCheckerPtr Saba::ElasticBandProcessor::colChecker

protected

cspace

CSpaceSampledPtr Saba::ElasticBandProcessor::cspace

protected

factorCSpaceNeighborForce

float Saba::ElasticBandProcessor::factorCSpaceNeighborForce

protected

factorCSpaceObstacleForce

float Saba::ElasticBandProcessor::factorCSpaceObstacleForce

protected

ik

VirtualRobot::GenericIKSolverPtr Saba::ElasticBandProcessor::ik

protected

maxCSpaceNeighborForce

float Saba::ElasticBandProcessor::maxCSpaceNeighborForce

protected

maxCSpaceObstacleForce

float Saba::ElasticBandProcessor::maxCSpaceObstacleForce

protected

minObstacleDistance

float Saba::ElasticBandProcessor::minObstacleDistance

protected

node

VirtualRobot::RobotNodePtr Saba::ElasticBandProcessor::node

protected

obstacles

VirtualRobot::SceneObjectSetPtr Saba::ElasticBandProcessor::obstacles

protected

rns

VirtualRobot::RobotNodeSetPtr Saba::ElasticBandProcessor::rns

protected

weights

Eigen::VectorXf Saba::ElasticBandProcessor::weights

protected