enum AddNodeState |
enum CellComparisonSurvey |
enum CellComparisonSurvey |
void ExplorationGraph::addNode | ( | Scan | scan | ) | [inherited] |
bool ExplorationGraph::addNode | ( | int & | lastCompared, | |
int | newNodeID | |||
) | [inherited] |
bool MipBaselib::ExplorationGraph::addNode2 | ( | int & | lastCompared, | |
int | newNodeID | |||
) | [inherited] |
vector<int> ExplorationNode::adjacency | ( | ) | [inline, inherited] |
Get the _adjacency parameter.
vector<int> MipBaselib::ExplorationNode::adjacency | ( | ) | [inline, inherited] |
Get the _adjacency parameter.
vector< int > ExplorationGraph::AStar | ( | int | IDstart, | |
int | IDdest | |||
) | [inherited] |
vector<Cell*> bresenhamCircle | ( | ExplorationNode | node, | |
Cell * | start, | |||
Cell * | stop, | |||
Cell * | center | |||
) |
Main dell'algoritmo di homing che chiama i metodi necessari
sd | matrice che descrive gli start ed i goal di tutti i robot | |
Back | soluzione di backtracking per l'inizializzazione della soluzione (proprietà dell'anytime) | |
numRobot | numero di robot |
nod | IdNode del nodo di cui si vogliono cercare gli adiacenti |
start | nodo di origine | |
dest | nodo di destinazione |
Sol | Soluzione ottima da valutare |
Sol | Soluzione ottima da valutare |
Par | Soluzione parziale, il cammino dei robot che hanno già ripianificato | |
s | nodo di origine | |
d | nodo di destinazione |
priority[] | schema di priorità | |
ott | soluzione ottima senza considerare lo spazio tempo | |
sd | matrice di start e goal |
prty | puntatore al vecchio schema di priorità da cambiare | |
vincoli | vincoli che devono essere soddisfatti | |
numRobot | numero di robot Dato un insieme di vincoli restituisce un vettore di priorità che soddisfa questi vincoli, utilizzato per l'inizializzazione del'algoritmo hill climbing e per il restart casuale per evitare i minimi locali | |
vincoli | vincoli che devono essere soddisfatti | |
pr | puntatore al vettore dove deve essre scritto lo scehma di priorità | |
numRobot | numero di robot Calcola il costo di una soluzione. Il costo è pari alla lunghezza del cammino più lungo tra quelli presenti nella soluzione | |
Sol | Soluzione da valutare |
robot | robot del quale si vogliono stampare le info Stampa il peso dei nodi | |
robot | robot del quale si vogliono stampare le info Scrive su file le info necessarie a ricostruire un grafo | |
nomefile | nome del file (deve terminare in .txt) Legge da file le info e crea il grafo salvato | |
nomefile | nome del file (deve terminare in .txt) Scrive su file le info necessarie a ricostruire un grafo | |
nomefile | nome del file (deve terminare in .txt) Legge da file le info e crea il grafo salvato | |
nomefile | nome del file (deve terminare in .txt) |
void ExplorationGraph::compA | ( | ) | [inherited] |
Construct the adjacency matrix of the graph. NOTE USEFUL?
void ExplorationGraph::compA | ( | ) | [inherited] |
Construct the adjacency matrix of the graph. NOTE USEFUL?
bool MipBaselib::compareFscore | ( | ExplorationNode * | first, | |
ExplorationNode * | second | |||
) |
void ExplorationGraph::compW | ( | ) | [inherited] |
Construct the weight matrix of the graph. NOTE USEFUL?
void ExplorationGraph::compW | ( | ) | [inherited] |
Construct the weight matrix of the graph. NOTE USEFUL?
int evalCoeff | ( | Cell * | cell | ) |
ExplorationGraph::ExplorationGraph | ( | const ExplorationGraph & | g | ) | [inherited] |
Copy Constructor.
ExplorationGraph::ExplorationGraph | ( | ExplorationParams | params, | |
Decimal | adjacTh | |||
) | [inherited] |
Parametric Constructor with threshold of adjacence.
ExplorationGraph::ExplorationGraph | ( | ExplorationParams | params | ) | [inherited] |
Parametric Constructor.
ExplorationGraph::ExplorationGraph | ( | ) | [inline, inherited] |
Default Constructor.
ExplorationGraph::ExplorationGraph | ( | const ExplorationGraph & | g | ) | [inherited] |
Copy Constructor.
ExplorationGraph::ExplorationGraph | ( | ExplorationParams | params, | |
Decimal | adjacTh | |||
) | [inherited] |
Parametric Constructor with threshold of adjacence.
ExplorationGraph::ExplorationGraph | ( | ExplorationParams | params | ) | [inherited] |
Parametric Constructor.
MipBaselib::ExplorationGraph::ExplorationGraph | ( | ) | [inline, inherited] |
Default Constructor.
ExplorationNode::ExplorationNode | ( | Scan | scan, | |
int | ID, | |||
ExplorationParams | params, | |||
Time | nodeTime, | |||
Pose | gridCenter | |||
) | [inherited] |
MipBaselib::ExplorationNode::ExplorationNode | ( | const ExplorationNode & | node | ) | [inline, inherited] |
Copy constructor.
ExplorationNode::ExplorationNode | ( | Scan | scan, | |
int | ID, | |||
ExplorationParams | params, | |||
Time | nodeTime, | |||
Pose | gridCenter | |||
) | [inherited] |
MipBaselib::ExplorationNode::ExplorationNode | ( | ) | [inline, inherited] |
void ExplorationGraph::finalizeGlobalGrid | ( | ) | [inherited] |
ExplorationNode ExplorationGraph::getNode | ( | int | ID | ) | [inherited] |
ExplorationNode ExplorationGraph::getNode | ( | int | ID | ) | [inherited] |
Time ExplorationGraph::getNodeLastUpd | ( | int | ID | ) | [inherited] |
Time ExplorationGraph::getNodeLastUpd | ( | int | ID | ) | [inherited] |
ExplorationNode * ExplorationGraph::getNodePtr | ( | int | ID | ) | [inherited] |
void ExplorationGraph::graphAccess | ( | ) | [inline, inherited] |
richiesta di accesso, da invocare all'inizio di ogni metodo pubblico
void MipBaselib::ExplorationGraph::graphAccess | ( | ) | [inline, inherited] |
richiesta di accesso, da invocare all'inizio di ogni metodo pubblico
void ExplorationGraph::graphRelease | ( | ) | [inline, inherited] |
void MipBaselib::ExplorationGraph::graphRelease | ( | ) | [inline, inherited] |
Grid ExplorationNode::grid | ( | ) | [inline, inherited] |
Get the _grid parameter.
Grid MipBaselib::ExplorationNode::grid | ( | ) | [inline, inherited] |
Get the _grid parameter.
Grid* ExplorationNode::gridPtr | ( | ) | [inline, inherited] |
Get the _grid parameter.
Grid* MipBaselib::ExplorationNode::gridPtr | ( | ) | [inline, inherited] |
Get the _grid parameter.
int ExplorationNode::ID | ( | ) | [inline, inherited] |
Get the _ID parameter.
int MipBaselib::ExplorationNode::ID | ( | ) | [inline, inherited] |
Get the _ID parameter.
void MipBaselib::ExplorationNode::insertAdjacency | ( | int | index, | |
int | value | |||
) | [inline, inherited] |
Set the _adjacency parameter.
void MipBaselib::ExplorationNode::insertRealAdjacency | ( | int | index, | |
int | value | |||
) | [inline, inherited] |
Set the _adjacency parameter.
void MipBaselib::ExplorationNode::insertWeight | ( | int | index, | |
Decimal | value | |||
) | [inline, inherited] |
Set the _weight parameter.
bool ExplorationGraph::isAdjacent | ( | ExplorationNode | first, | |
ExplorationNode | second | |||
) | [inherited] |
bool ExplorationGraph::isAdjacent | ( | ExplorationNode * | first, | |
ExplorationNode * | second | |||
) | [inherited] |
Decimal ExplorationGraph::nodeDist | ( | ExplorationNode | first, | |
ExplorationNode | second | |||
) | [inherited] |
Compute the Euclidean distance between two nodes.
first,second | node for distance comutation. |
Decimal ExplorationGraph::nodeDist | ( | ExplorationNode | first, | |
ExplorationNode | second | |||
) | [inherited] |
Compute the Euclidean distance between two nodes.
first,second | node for distance comutation. |
Time ExplorationNode::nodeTime | ( | ) | [inline, inherited] |
Get the _nodeTime parameter.
Time MipBaselib::ExplorationNode::nodeTime | ( | ) | [inline, inherited] |
Get the _nodeTime parameter.
ExplorationGraph ExplorationGraph::operator= | ( | const ExplorationGraph & | g | ) | [inline, inherited] |
Operator =.
ExplorationGraph MipBaselib::ExplorationGraph::operator= | ( | const ExplorationGraph & | g | ) | [inline, inherited] |
Operator =.
ExplorationNode& MipBaselib::ExplorationNode::operator= | ( | const ExplorationNode & | node | ) | [inline, inherited] |
Operator =.
string MipBaselib::ExplorationNode::print | ( | ) | [inline, inherited] |
string MipBaselib::ExplorationNode::printAdj | ( | ) | [inline, inherited] |
string MipBaselib::ExplorationNode::printWei | ( | ) | [inline, inherited] |
void MipBaselib::ExplorationNode::pushBackAdjacency | ( | int | value | ) | [inline, inherited] |
Set the _adjacency parameter.
void MipBaselib::ExplorationNode::pushBackRealAdjacency | ( | int | value | ) | [inline, inherited] |
Set the _adjacency parameter.
void MipBaselib::ExplorationNode::pushBackWeight | ( | Decimal | value | ) | [inline, inherited] |
Set the _weight parameter.
vector<int> MipBaselib::ExplorationNode::realAdjacency | ( | ) | [inline, inherited] |
Get the _realAdjacency parameter.
Scan ExplorationNode::scan | ( | ) | [inline, inherited] |
Get the _scan parameter.
Scan MipBaselib::ExplorationNode::scan | ( | ) | [inline, inherited] |
Get the _scan parameter.
void ExplorationNode::setAdjacency | ( | vector< int > | value | ) | [inline, inherited] |
Set the _adjacency parameter.
void ExplorationNode::setGrid | ( | Grid | value | ) | [inline, inherited] |
Set the _grid parameter.
void MipBaselib::ExplorationNode::setGrid | ( | Grid | value | ) | [inline, inherited] |
Set the _grid parameter.
void MipBaselib::ExplorationNode::setGridScanParams | ( | ExplorationParams | value | ) | [inline, inherited] |
Set the _ID parameter.
void ExplorationNode::setID | ( | int | value | ) | [inline, inherited] |
Set the _ID parameter.
void MipBaselib::ExplorationNode::setID | ( | int | value | ) | [inline, inherited] |
Set the _ID parameter.
void ExplorationGraph::setNextVP | ( | Pose | nextVP | ) | [inline, inherited] |
void MipBaselib::ExplorationGraph::setNextVP | ( | Pose | nextVP | ) | [inline, inherited] |
void MipBaselib::ExplorationNode::setNodePose | ( | ExplorationParams | value | ) | [inline, inherited] |
Set the _ID parameter.
void ExplorationNode::setNodeTime | ( | Time | value | ) | [inline, inherited] |
Set the _nodeTime parameter.
void MipBaselib::ExplorationNode::setNodeTime | ( | Time | value | ) | [inline, inherited] |
Set the _nodeTime parameter.
void ExplorationNode::setScan | ( | Scan | value | ) | [inline, inherited] |
Set the _scan parameter.
void MipBaselib::ExplorationNode::setScan | ( | Scan | value | ) | [inline, inherited] |
Set the _scan parameter.
void ExplorationNode::setWeight | ( | vector< Decimal > | value | ) | [inline, inherited] |
Set the _weight parameter.
void ExplorationGraph::updateAdj | ( | ExplorationNode | first, | |
ExplorationNode | second | |||
) | [inherited] |
void ExplorationGraph::updateAdj | ( | ExplorationNode & | first, | |
ExplorationNode & | second | |||
) | [inherited] |
void ExplorationGraph::updateGlobalGrid | ( | int | nodeID | ) | [inherited] |
void ExplorationGraph::updateGlobalGrid2 | ( | int | nodeID | ) | [inherited] |
void ExplorationGraph::updateLocalGrids | ( | ) | [inherited] |
vector<Decimal> ExplorationNode::weight | ( | ) | [inline, inherited] |
Get the _weight parameter.
vector<Decimal> MipBaselib::ExplorationNode::weight | ( | ) | [inline, inherited] |
Get the _weight parameter.
ExplorationGraph::~ExplorationGraph | ( | ) | [inherited] |
Destructor.
ExplorationGraph::~ExplorationGraph | ( | ) | [inherited] |
Destructor.
vector<int> MipBaselib::ExplorationNode::_adjacency [inherited] |
Vector containing the adjacency relations with other nodes of the graph.
Decimal ExplorationGraph::_adjacTh [inherited] |
Minimum distance between two adjacent nodes.
Decimal MipBaselib::ExplorationGraph::_adjacTh [inherited] |
Minimum distance between two adjacent nodes.
vector<int> ExplorationGraph::_Amatrix [inherited] |
Adjacency Matrix (A[i,j]=1 if graph[i] is adjacent to graph[j]), 0 otherwise.
vector<int> MipBaselib::ExplorationGraph::_Amatrix [inherited] |
Adjacency Matrix (A[i,j]=1 if graph[i] is adjacent to graph[j]), 0 otherwise.
Decimal MipBaselib::ExplorationNode::_fScore [inherited] |
Timer ExplorationGraph::_graphTimer [inherited] |
Timer used for node timing.
Timer MipBaselib::ExplorationGraph::_graphTimer [inherited] |
Timer used for node timing.
Grid MipBaselib::ExplorationNode::_grid [inherited] |
Grid constructed by th scan.
Decimal MipBaselib::ExplorationNode::_gScore [inherited] |
Decimal MipBaselib::ExplorationNode::_hScore [inherited] |
Pose ExplorationGraph::_nextVP [inherited] |
Pose MipBaselib::ExplorationGraph::_nextVP [inherited] |
Time MipBaselib::ExplorationNode::_nodeTime [inherited] |
ExplorationParams ExplorationGraph::_params [inherited] |
Exploration paramenters such as sensor range and sensoe scan angle.
Exploration paramenters such as sensor range and sensoe scan angle.
vector<int> MipBaselib::ExplorationNode::_realAdjacency [inherited] |
Vector containing the adjacency relations with other nodes of the graph.
Scan MipBaselib::ExplorationNode::_scan [inherited] |
Scan acquired in the node.
vector<Decimal> MipBaselib::ExplorationNode::_weight [inherited] |
Vector containing the weights of the edges of the graph.
vector<Decimal> ExplorationGraph::_Wmatrix [inherited] |
Weight Matrix (W[i,j]=dist(graph[i],graph[j])).
vector<Decimal> MipBaselib::ExplorationGraph::_Wmatrix [inherited] |
Weight Matrix (W[i,j]=dist(graph[i],graph[j])).
const char* AddNodeStateName[ADD_NODE_STATE_NUM] [static] |
Initial value:
{ "Find Next Node", "Update Node", "Finalize Node", "Verify" }
vector<int> MipBaselib::ExplorationGraph::arrived [inherited] |
vector<int> MipBaselib::ExplorationGraph::bounds [inherited] |
int MipBaselib::ExplorationNode::cameFrom [inherited] |
const char* CellComparisonSurveyName[CELL_COMPARISON_SURVEY_NUM] [static] |
Initial value:
{ "Obstacle vs Obstacle", "Obstacle vs Frontier", "Obstacle vs Unknown", "Obstacle vs LSR", "Frontier vs Obstacle", "Frontier vs Frontier", "Frontier vs Unknown", "Frontier vs LSR", "Unknown vs Obstacle", "Unknown vs Frontier", "Unknown vs Unknown", "Unknown vs LSR", "LSR vs Obstacle", "LSR vs Frontier", "LSR vs Unknown", "LSR vs LSR", }
const char* CellComparisonSurveyName[CELL_COMPARISON_SURVEY_NUM] [static] |
Initial value:
{ "Obstacle vs Obstacle", "Obstacle vs Frontier", "Obstacle vs Unknown", "Obstacle vs LSR", "Frontier vs Obstacle", "Frontier vs Frontier", "Frontier vs Unknown", "Frontier vs LSR", "Unknown vs Obstacle", "Unknown vs Frontier", "Unknown vs Unknown", "Unknown vs LSR", "LSR vs Obstacle", "LSR vs Frontier", "LSR vs Unknown", "LSR vs LSR", }
Time MipBaselib::ExplorationGraph::deadLine [inherited] |
Grid MipBaselib::ExplorationGraph::globalGrid [inherited] |
pthread_mutex_t ExplorationGraph::mutex [inherited] |
pthread_mutex_t MipBaselib::ExplorationGraph::mutex [inherited] |