Contains CSpaceTree which uses a CSpace for managing configurations. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CSpaceTree (CSpacePtr cspace)
	constructor More...

virtual	~CSpaceTree ()
	destructor More...

CSpaceNodePtr	getNode (unsigned int id)

CSpaceNodePtr	getLastAddedNode ()

CSpacePtr	getCSpace ()

virtual unsigned int	getNrOfNodes () const
	get number of nodes More...

unsigned int	getDimension () const

virtual bool	createPath (CSpaceNodePtr startNode, CSpaceNodePtr goalNode, CSpacePathPtr fillPath)

virtual void	reset ()
	set the number of nodes to zero More...

virtual bool	saveAllNodes (char const *filename)
	saves all nodes with ID, configuration and parentID to a file More...

void	setUpdateChildren (bool enable)

bool	getUpdateChildren ()

virtual CSpaceNodePtr	appendNode (const Eigen::VectorXf &config, int parentID, bool calcDistance=false)
	creates new CSpaceNode with configuration config and parentID More...

virtual void	removeNode (CSpaceNodePtr n)
	remove tree node More...

virtual unsigned int	getNearestNeighborID (const Eigen::VectorXf &config, float *storeDist=NULL)

virtual CSpaceNodePtr	getNearestNeighbor (const Eigen::VectorXf &config, float *storeDist=NULL)

virtual bool	appendPath (CSpaceNodePtr startNode, const Eigen::VectorXf &config, int *storeLastAddedID=NULL)

virtual bool	appendPath (CSpaceNodePtr startNode, CSpacePathPtr path, int *storeLastAddedID=NULL)

virtual bool	appendPathUntilCollision (CSpaceNodePtr startNode, const Eigen::VectorXf &config, int *storeLastAddedID)

virtual std::vector< CSpaceNodePtr >	getNodes ()

void	lock ()

void	unlock ()

float	getTreeLength (bool useMetricWeights=true)

bool	hasNode (CSpaceNodePtr n)

Protected Member Functions
virtual float	getPathDist (unsigned int idStart, unsigned int idEnd, bool useMetricWeights)
	get distance of path start to end More...

Protected Attributes
unsigned int	dimension
	shutdown tree, reset all data More...

CSpacePtr	cspace

Eigen::VectorXf	tmpConfig

std::vector< CSpaceNodePtr >	nodes

bool	updateChildren
	vector with pointers to all used nodes More...

std::map< unsigned int, CSpaceNodePtr >	idNodeMapping

std::mutex	mutex

Detailed Description

Contains CSpaceTree which uses a CSpace for managing configurations.

A connected tree in c-space which represents a RRT.

Constructor & Destructor Documentation

◆ CSpaceTree()

Saba::CSpaceTree::CSpaceTree ( CSpacePtr cspace )

constructor

◆ ~CSpaceTree()

Saba::CSpaceTree::~CSpaceTree ( )

virtualdefault

destructor

Member Function Documentation

◆ appendNode()

CSpaceNodePtr Saba::CSpaceTree::appendNode	(	const Eigen::VectorXf &	config,
		int	parentID,
		bool	calcDistance = `false`
	)

virtual

creates new CSpaceNode with configuration config and parentID

Parameters

config	the configuration
parentID	ID of the parent
calcDistance	if set, the distance to obstacles is calculated and stored in the node (be careful: expensive), otherwise the dist is set to -1.0

Returns: pointer to the new node on success, otherwise NULL

◆ appendPath() [1/2]

bool Saba::CSpaceTree::appendPath	(	CSpaceNodePtr	startNode,
		const Eigen::VectorXf &	config,
		int *	storeLastAddedID = `NULL`
	)

virtual

append a path to the tree (without any checks) Intermediate configs are generated according to the current cspace

Parameters

startNode	start from this node
config
storeLastAddedID	if given, the id of the last added node is stored here

◆ appendPath() [2/2]

bool Saba::CSpaceTree::appendPath	(	CSpaceNodePtr	startNode,
		CSpacePathPtr	path,
		int *	storeLastAddedID = `NULL`
	)

virtual

Append the given path to this tree. No checks are performed.

◆ appendPathUntilCollision()

bool Saba::CSpaceTree::appendPathUntilCollision	(	CSpaceNodePtr	startNode,
		const Eigen::VectorXf &	config,
		int *	storeLastAddedID
	)

virtual

Append a path to the tree until a collision is detected Intermediate configs are generated according to the current cspace

Parameters

startNode	start from this node
config
storeLastAddedID	if given, the id of the last added node is stored here

◆ createPath()

bool Saba::CSpaceTree::createPath	(	CSpaceNodePtr	startNode,
		CSpaceNodePtr	goalNode,
		CSpacePathPtr	fillPath
	)

virtual

creates path from startNode to goalNode by traversing the parents of goalNode

Parameters

startNode	The start.
goalNode	The goal.
fillPath	Stores all configs.

Returns: true on success.

◆ getCSpace()

Saba::CSpacePtr Saba::CSpaceTree::getCSpace ( )

◆ getDimension()

unsigned int Saba::CSpaceTree::getDimension ( ) const

◆ getLastAddedNode()

CSpaceNodePtr Saba::CSpaceTree::getLastAddedNode ( )

◆ getNearestNeighbor()

CSpaceNodePtr Saba::CSpaceTree::getNearestNeighbor	(	const Eigen::VectorXf &	config,
		float *	storeDist = `NULL`
	)

virtual

◆ getNearestNeighborID()

unsigned int Saba::CSpaceTree::getNearestNeighborID	(	const Eigen::VectorXf &	config,
		float *	storeDist = `NULL`
	)

virtual

get ID of nearest neighbor

Parameters

config	configuration
storeDist	pointer to float for storing the distance (if not NULL)

Returns: ID of nearest neighbor

◆ getNode()

CSpaceNodePtr Saba::CSpaceTree::getNode ( unsigned int id )

Return a cspace node.

Parameters

id	the id of the node

Returns: pointer to the cspace node

◆ getNodes()

std::vector< CSpaceNodePtr > Saba::CSpaceTree::getNodes ( )

virtual

◆ getNrOfNodes()

unsigned int Saba::CSpaceTree::getNrOfNodes ( ) const

virtual

get number of nodes

◆ getPathDist()

float Saba::CSpaceTree::getPathDist	(	unsigned int	idStart,
		unsigned int	idEnd,
		bool	useMetricWeights
	)

protectedvirtual

get distance of path start to end

◆ getTreeLength()

float Saba::CSpaceTree::getTreeLength ( bool useMetricWeights = true )

Computes the complete length of all edges.

Parameters

useMetricWeights When set, the metric weights of the corresponding cspace are used for length calculation. When the cspace is not initialized with any metric weights, this option has no effect.

◆ getUpdateChildren()

bool Saba::CSpaceTree::getUpdateChildren ( )

inline

◆ hasNode()

bool Saba::CSpaceTree::hasNode ( CSpaceNodePtr n )

◆ lock()

void Saba::CSpaceTree::lock ( )

Create a new cspace node (does !not! set the config values to zero).

Returns: pointer to new created node in cspace

◆ removeNode()

void Saba::CSpaceTree::removeNode ( CSpaceNodePtr n )

virtual

remove tree node

◆ reset()

void Saba::CSpaceTree::reset ( )

virtual

set the number of nodes to zero

◆ saveAllNodes()

bool Saba::CSpaceTree::saveAllNodes ( char const * filename )

virtual

saves all nodes with ID, configuration and parentID to a file

◆ setUpdateChildren()

void Saba::CSpaceTree::setUpdateChildren ( bool enable )

inline

consider child vector list when adding nodes to the tree (standard: false)

See also: CSpaceNode

◆ unlock()

void Saba::CSpaceTree::unlock ( )

Field Documentation

◆ cspace

CSpacePtr Saba::CSpaceTree::cspace

protected

◆ dimension

unsigned int Saba::CSpaceTree::dimension

protected

shutdown tree, reset all data

dimension of the cspace

◆ idNodeMapping

std::map<unsigned int, CSpaceNodePtr > Saba::CSpaceTree::idNodeMapping

protected

◆ mutex

std::mutex Saba::CSpaceTree::mutex

protected

◆ nodes

std::vector< CSpaceNodePtr > Saba::CSpaceTree::nodes

protected

◆ tmpConfig

Eigen::VectorXf Saba::CSpaceTree::tmpConfig

protected

◆ updateChildren

bool Saba::CSpaceTree::updateChildren

protected

vector with pointers to all used nodes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CSpaceTree()

◆ ~CSpaceTree()

Member Function Documentation

◆ appendNode()

◆ appendPath() [1/2]

◆ appendPath() [2/2]

◆ appendPathUntilCollision()

◆ createPath()

◆ getCSpace()

◆ getDimension()

◆ getLastAddedNode()

◆ getNearestNeighbor()

◆ getNearestNeighborID()

◆ getNode()

◆ getNodes()

◆ getNrOfNodes()

◆ getPathDist()

◆ getTreeLength()

◆ getUpdateChildren()

◆ hasNode()

◆ lock()

◆ removeNode()

◆ reset()

◆ saveAllNodes()

◆ setUpdateChildren()

◆ unlock()

Field Documentation

◆ cspace

◆ dimension

◆ idNodeMapping

◆ mutex

◆ nodes

◆ tmpConfig

◆ updateChildren