Path-planning for devices. More...

Classes
class	PlannerConstraint
	A tuple of (QConstraintPtr, QEdgeConstraintPtr). More...

class	PlannerUtil
	PlannerUtil provides various utilities useful in path planning. More...

class	QConstraint
	Interface for the checking for collisions for work cell states. More...

class	QIKSampler
	Interface for the sampling a configuration that solves an IK problem. More...

class	QNormalizer
	Normalization of configurations. More...

class	QSampler
	Interface for the sampling a configuration. More...

class	StateConstraint
	Interface for the checking for collisions for work cell states. More...

class	StopCriteria
	StopCriteria is a class for specifying an instant a compution should be aborted. More...

class	ARWExpand
	ARWExpand expands a random walk in the configuration space by one step. More...

class	SBLExpand
	Interface for sampling a configuration in the vicinity of some other configuration. More...

Typedefs
typedef rw::core::Ptr< PlannerConstraint >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const PlannerConstraint >	CPtr
	smart pointer type to this const class

typedef rw::core::Ptr< QConstraint >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const QConstraint >	CPtr
	smart pointer type to this const class

typedef rw::core::Ptr< QIKSampler >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const QIKSampler >	CPtr
	smart pointer type to this const class

typedef rw::core::Ptr< QNormalizer >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< QSampler >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const QSampler >	CPtr
	smart pointer type to this const class

typedef rw::core::Ptr< StateConstraint >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< const StateConstraint >	CPtr
	smart pointer type to this class

typedef rw::core::Ptr< StopCriteria >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< ARWExpand >	Ptr
	smart pointer type to this class

typedef rw::core::Ptr< SBLExpand >	Ptr
	Smart pointer type for SBLExpand.

typedef std::pair< rw::math::Q, rw::math::Q >	QBox
	A configuration space in the shape of a box. More...

Enumerations
enum	EstimateType { WORSTCASE = 0 , AVERAGE }
	Description of the different estimation type possible in the estimateMotionWeights(EsitmateType, size_t) method. More...

Functions
	PlannerConstraint ()
	Default constructed without constraints initialized.

	PlannerConstraint (rw::core::Ptr< rw::pathplanning::QConstraint > constraint, QEdgeConstraint::Ptr edge)
	A (QConstraintPtr, QEdgeConstraintPtr) tuple. More...

bool	inCollision (const rw::math::Q &q)
	Forwards call to the QConstraint wrapped by the PlannerConstraint.

bool	inCollision (const rw::math::Q &q1, const rw::math::Q &q2)
	Forwards call to the QEdgeConstraint wrapped by the PlannerConstraint.

QConstraint &	getQConstraint () const
	The configuration constraint.

QEdgeConstraint &	getQEdgeConstraint () const
	The edge constraint.

const rw::core::Ptr< rw::pathplanning::QConstraint > &	getQConstraintPtr () const
	The configuration constraint pointer.

const QEdgeConstraint::Ptr &	getQEdgeConstraintPtr () const
	The edge constraint pointer.

static PlannerConstraint	make (rw::core::Ptr< rw::pathplanning::QConstraint > constraint, QEdgeConstraint::Ptr edge)
	A (QConstraintPtr, QEdgeConstraintPtr) tuple. More...

static PlannerConstraint	make (rw::core::Ptr< rw::proximity::CollisionDetector > detector, rw::core::Ptr< const rw::models::Device > device, const rw::kinematics::State &state)
	Planner constraint for a collision detector. More...

static PlannerConstraint	make (rw::core::Ptr< rw::proximity::CollisionStrategy > strategy, rw::core::Ptr< rw::models::WorkCell > workcell, rw::core::Ptr< const rw::models::Device > device, const rw::kinematics::State &state)
	Planner constraint for a collision strategy. More...

static PlannerConstraint	make (rw::core::Ptr< rw::proximity::CollisionStrategy > strategy, const rw::proximity::CollisionSetup &setup, rw::core::Ptr< rw::models::WorkCell > workcell, rw::core::Ptr< const rw::models::Device > device, const rw::kinematics::State &state)
	Planner constraint for a collision strategy and collision setup. More...

static bool	inCollision (const PlannerConstraint &constraint, const std::vector< rw::math::Q > &path)
	Collision checking for a path of configurations. More...

static bool	inCollision (const PlannerConstraint &constraint, const rw::math::Q &start, const rw::math::Q &end, bool checkStart=true, bool checkEnd=true)
	Collision checking for a segment. More...

static bool	inCollision (const PlannerConstraint &constraint, const rw::math::Q &q)
	Collision checking for a configuration. More...

static rw::math::QMetric::Ptr	normalizingInfinityMetric (const rw::models::Device::QBox &bounds, double length=1)
	Weighted infinity metric that maps the maps the longest vector in the configuration space to a given length. More...

static rw::math::QMetric::Ptr	timeMetric (const rw::models::Device &device)
	Metric for the distance in time between a pair of configurations. More...

static rw::math::QMetric::Ptr	timeMetric (const rw::math::Q &speed)
	Metric for the distance in time between a pair of configurations. More...

static rw::math::Q	estimateMotionWeights (const rw::models::Device &device, rw::core::Ptr< const rw::kinematics::Frame > frame, const rw::kinematics::State &initialState, EstimateType type, size_t samples)
	Estimate the distance traveled by the frame, when moving the joints. More...

static rw::math::Q	clampPosition (const rw::models::Device &device, const rw::math::Q &q)
	Clamps values to be within bounds. More...

static rw::math::Q	clampPosition (const rw::models::Device::QBox &bounds, const rw::math::Q &q)
	Clamps values to be within bounds. More...

virtual	~QConstraint ()
	Destructor.

virtual void	setLog (rw::core::Log::Ptr log)
	Set the log to be used for writing debug info. More...

void	update (const rw::kinematics::State &state)
	Updates the constraint with a new state. More...

bool	inCollision (const rw::math::Q &q) const
	True if the work cell is considered to be in collision for the device configuration q.

static QConstraint::Ptr	makeFixed (bool value)
	A fixed constraint. The fixed constraint always returns value from inCollision().

static QConstraint::Ptr	makeBounds (const rw::models::Device::QBox &bounds)
	Constraint for the bounds of the configuration space. The configuration is considered to be in collision if it is outside of the bounds given by bounds.

static QConstraint::Ptr	make (rw::core::Ptr< StateConstraint > detector, rw::models::Device::CPtr device, const rw::kinematics::State &state)
	Map a state constraint to a configuration constraint.

static QConstraint::Ptr	make (rw::core::Ptr< rw::proximity::CollisionDetector > detector, rw::models::Device::CPtr device, const rw::kinematics::State &state)
	Map a collision detector to a configuration constraint.

static QConstraint::Ptr	makeMerged (const std::vector< QConstraint::Ptr > &constraints)
	Combine a set of configuration constraints into a single configuration constraint.

static QConstraint::Ptr	makeMerged (const QConstraint::Ptr &ca, const QConstraint::Ptr &cb)
	Combine a pair of configuration constraints into a single configuration constraint.

static QConstraint::Ptr	makeNormalized (const QConstraint::Ptr &constraint, const std::pair< rw::math::Q, rw::math::Q > &bounds)
	Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations. More...

static QConstraint::Ptr	makeNormalized (const QConstraint::Ptr &constraint, const rw::models::Device &device)
	Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations. More...

static QConstraint::Ptr	makeNormalized (const QConstraint::Ptr &constraint, const QNormalizer &normalizer)
	Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations. More...

virtual bool	doInCollision (const rw::math::Q &q) const =0
	Subclass implementation of the inCollision() method.

virtual void	doSetLog (rw::core::Log::Ptr log)=0
	Set a log. More...

virtual void	doUpdate (const rw::kinematics::State &state)
	Update constraint. More...

	QConstraint ()

rw::math::Q	sample (const rw::math::Transform3D<> &target)
	Sample a configuration that solves an IK problem for target. More...

bool	empty () const
	True if the sampler is known to contain no more configurations.

virtual	~QIKSampler ()
	Destructor.

static QIKSampler::Ptr	make (rw::core::Ptr< rw::models::Device > device, const rw::kinematics::State &state, rw::core::Ptr< rw::invkin::IterativeIK > solver=NULL, rw::core::Ptr< QSampler > seed=NULL, int maxAttempts=-1)
	An IK sampler based on an iterative IK solver. More...

static QIKSampler::Ptr	makeConstrained (QIKSampler::Ptr sampler, rw::core::Ptr< QConstraint > constraint, int maxAttempts=-1)
	An IK sampler filtered by a constraint. More...

	QIKSampler ()
	Constructor.

virtual rw::math::Q	doSample (const rw::math::Transform3D<> &target)=0
	Subclass implementation of the sample() method.

virtual bool	doEmpty () const
	Subclass implementation of the empty() method. More...

rw::math::Q	fromNormalized (const rw::math::Q &q) const
	Convert from a normalized configuration to a real configuration.

rw::math::Q	toNormalized (const rw::math::Q &q) const
	Convert a real configuration to a normalized configuration.

void	setFromNormalized (rw::math::Q &q) const
	Convert from a normalized configuration to a real configuration and assign the real configuration to q.

void	setToNormalized (rw::math::Q &q) const
	Convert a real configuration to a normalized configuration and write the normalized configuration to q.

const std::pair< rw::math::Q, rw::math::Q > &	getBounds () const
	The box of the configuration space with respect to which normalization is done.

	QNormalizer (const std::pair< rw::math::Q, rw::math::Q > &bounds)
	Normalizer for the configuration space box given by bounds.

static QNormalizer	identity ()
	Normalizer for the already normalized configuration space box.

rw::math::Q	sample ()
	Sample a configuration. More...

bool	empty () const
	True if the sampler is known to contain no more configurations.

virtual	~QSampler ()
	Destructor.

static QSampler::Ptr	makeEmpty ()
	Empty sampler.

static QSampler::Ptr	makeFixed (const rw::math::Q &q)
	Sampler that always returns the same configuration. More...

static QSampler::Ptr	makeSingle (const rw::math::Q &q)
	Sampler that always returns a single configuration. More...

static QSampler::Ptr	makeFinite (const std::vector< rw::math::Q > &qs)
	Sampler for the values of a finite sequence. More...

static QSampler::Ptr	makeFinite (QSampler::Ptr sampler, int cnt)
	A sampler to that returns only the first cnt samples from another sampler. More...

static QSampler::Ptr	makeUniform (const rw::models::Device::QBox &bounds)
	Uniform random sampling for a box of the configuration space.

static QSampler::Ptr	makeUniform (const rw::models::Device &device)
	Uniform random sampling for a device.

static QSampler::Ptr	makeUniform (rw::models::Device::CPtr device)
	Uniform random sampling for a device.

static QSampler::Ptr	makeNormalized (QSampler::Ptr sampler, const QNormalizer &normalizer)
	Map a sampler of standard configurations into a sampler of normalized configurations.

static QSampler::Ptr	make (rw::core::Ptr< QIKSampler > sampler, const rw::math::Transform3D<> &target)
	A sampler of IK solutions for a specific target. More...

static QSampler::Ptr	makeConstrained (QSampler::Ptr sampler, rw::core::Ptr< const QConstraint > constraint, int maxAttempts=-1)
	A sampler filtered by a constraint. More...

static QSampler::Ptr	makeBoxDirectionSampler (const rw::models::Device::QBox &bounds)
	Sampler of direction vectors for a box shaped configuration space. More...

	QSampler ()
	Constructor.

virtual rw::math::Q	doSample ()=0
	Subclass implementation of the sample() method.

virtual bool	doEmpty () const
	Subclass implementation of the empty() method. More...

virtual void	setLog (rw::core::Ptr< rw::core::Log > log)
	Set the log to be used for writing debug info. More...

bool	inCollision (const rw::kinematics::State &state) const
	True if the work cell is considered to be in collision for the work cell state state.

virtual	~StateConstraint ()

static StateConstraint::Ptr	make (rw::core::Ptr< rw::proximity::CollisionDetector > detector)
	Map a collision detector to a state constraint.

static StateConstraint::Ptr	make (const std::vector< StateConstraint::Ptr > &constraints)
	Combine a set of state constraints into a single state constraint.

virtual bool	doInCollision (const rw::kinematics::State &state) const =0
	Subclass implementation of the inCollision() method.

virtual void	doSetLog (rw::core::Ptr< rw::core::Log > log)=0
	Set a log. More...

	StateConstraint ()
	Constructor.

bool	stop () const
	True is returned when the computation should be stopped.

StopCriteria::Ptr	instance () const
	A new instance of the property constructed to match the original initial state of the criteria. More...

virtual	~StopCriteria ()
	Destructor.

static StopCriteria::Ptr	stopAfter (double time)
	Stop the computation after time seconds from now. More...

static StopCriteria::Ptr	stopNever ()
	Never stop the computation.

static StopCriteria::Ptr	stopNow ()
	Immediately stop the computation.

static StopCriteria::Ptr	stopByFlag (bool *stop)
	Stop the computation when stop says so. More...

static StopCriteria::Ptr	stopByFun (boost::function< bool()> fun)
	Stop the computation when fun says so.

static StopCriteria::Ptr	stopCnt (int cnt)
	Stop the computation after cnt calls of the stop criteria.

static StopCriteria::Ptr	stopEither (const std::vector< StopCriteria::Ptr > &criteria)
	Stop if either of criteria says stop.

static StopCriteria::Ptr	stopEither (const StopCriteria::Ptr &a, const StopCriteria::Ptr &b)
	Stop if either a or b says stop.

	StopCriteria ()
	Constructor.

virtual bool	doStop () const =0
	Subclass implementation of the stop() method.

virtual StopCriteria::Ptr	doInstance () const =0
	Subclass implementation of the instance() method.

bool	expand ()
	Expand the path by one step and return true if a new configuration was added to the path. More...

ARWExpand::Ptr	duplicate (const rw::math::Q &start) const
	Construct a new random walk with start node at start.

virtual	~ARWExpand ()
	Destructor.

const rw::trajectory::QPath &	getPath () const
	The current path of the random walk.

static ARWExpand::Ptr	make (const rw::models::Device::QBox &bounds, const rw::pathplanning::PlannerConstraint &constraint, const rw::math::Q &minVariances=rw::math::Q(), int historySize=-1)
	Constructor. More...

	ARWExpand ()
	Constructor.

virtual bool	doExpand ()=0
	Subclass implementation of the expand() method. More...

virtual ARWExpand::Ptr	doDuplicate (const rw::math::Q &start) const =0
	Subclass implementation of the duplicate() method.

rw::math::Q	expand (const rw::math::Q &q)
	A configuration sampled from the vicinity of q. More...

static SBLExpand::Ptr	makeUniformBox (const QBox &outer, const QBox &inner)

static SBLExpand::Ptr	makeUniformBox (const QBox &outer, double ratio)

static SBLExpand::Ptr	makeShrinkingUniformBox (rw::core::Ptr< rw::pathplanning::QConstraint > constraint, const QBox &outer, const QBox &inner)
	Sample within a box of decreasing size until a collision free configuration is found. More...

static SBLExpand::Ptr	makeShrinkingUniformBox (rw::core::Ptr< rw::pathplanning::QConstraint > constraint, const QBox &outer, double ratio)
	Sample within a box of shrinking size until a collision free configuration is found. More...

static SBLExpand::Ptr	makeShrinkingUniformJacobianBox (rw::core::Ptr< rw::pathplanning::QConstraint > constraint, rw::core::Ptr< rw::models::Device > device, const rw::kinematics::State &state, rw::core::Ptr< rw::models::JacobianCalculator > jacobian, double angle_max=-1, double disp_max=-1)
	Sample within a box of shrinking size until a collision free configuration is found. More...

virtual	~SBLExpand ()
	Destructor.

	SBLExpand ()
	Constructor.

virtual rw::math::Q	doExpand (const rw::math::Q &q)=0
	Subclass implementation of the expand() method.

Variables
rw::trajectory::QPath	_path
	The path of random walk.

Detailed Description

Path-planning for devices.

Typedef Documentation

◆ QBox

typedef std::pair<rw::math::Q, rw::math::Q> QBox

A configuration space in the shape of a box.

The box is given by a lower and upper corner.

Enumeration Type Documentation

◆ EstimateType

enum EstimateType

Description of the different estimation type possible in the estimateMotionWeights(EsitmateType, size_t) method.

Enumerator
WORSTCASE	Estimate weights corresponding to the maximal distance *‍/.
AVERAGE	Estimate weights corresponding to the average distance *‍/.

Function Documentation

◆ clampPosition() [1/2]

static rw::math::Q clampPosition	(	const rw::models::Device &	device,
		const rw::math::Q &	q
	)

static

Clamps values to be within bounds.

The method treats all joints individually and clamps them to be within the position bounds of the device

Parameters

device	[in] The device for the configurations.
q	[in] Configuration to clamp

Returns: The clamped configuration

◆ clampPosition() [2/2]

static rw::math::Q clampPosition	(	const rw::models::Device::QBox &	bounds,
		const rw::math::Q &	q
	)

static

Clamps values to be within bounds.

The method treats all joints individually and clamps them to be within the position bounds of the configuration space box.

Parameters

bounds	[in] The bounds of the configuration space
q	[in] Configuration to clamp

Returns: The clamped configuration

◆ doEmpty() [1/2]

virtual bool doEmpty ( ) const

protectedvirtual

Subclass implementation of the empty() method.

By default the sampler is assumed to be sampling an infinite set of configurations. IOW. the function returns false by default.

◆ doEmpty() [2/2]

virtual bool doEmpty ( ) const

protectedvirtual

Subclass implementation of the empty() method.

By default the sampler is assumed to be sampling an infinite set of configurations. IOW. the function returns false by default.

◆ doExpand()

virtual bool doExpand ( )

protectedpure virtual

Subclass implementation of the expand() method.

The doExpand() adds one or more nodes to _path if and only if the method returns true.

◆ doSetLog() [1/2]

virtual void doSetLog ( rw::core::Log::Ptr log )

protectedpure virtual

Set a log.

Parameters

log	[in] the log.

◆ doSetLog() [2/2]

virtual void doSetLog ( rw::core::Ptr< rw::core::Log > log )

protectedpure virtual

Set a log.

Parameters

log	[in] the log.

◆ doUpdate()

virtual void doUpdate ( const rw::kinematics::State & state )

inlineprotectedvirtual

Update constraint.

Parameters

state [in] the state.

◆ estimateMotionWeights()

static rw::math::Q estimateMotionWeights	(	const rw::models::Device &	device,
		rw::core::Ptr< const rw::kinematics::Frame >	frame,
		const rw::kinematics::State &	initialState,
		EstimateType	type,
		size_t	samples
	)

static

Estimate the distance traveled by the frame, when moving the joints.

The estimate is based on sampling samples random configuration and using the Jacobian to estimate the distance traveled when moving the joints. This estimate can be used in the WeightedEuclideanMetric.

Parameters

device	[in] Device to estimate weights for
frame	[in] Frame to calculate weights for. If null the device end frame will be used
initialState	[in] Initial state to use in estimation
type	[in] The estimation type
samples	[in] The number of samples to use (default 1000)

Returns: Weights representing the distance

◆ expand() [1/2]

bool expand ( )

Expand the path by one step and return true if a new configuration was added to the path.

The current path can be retrieved with ARWExpand::getPath().

Returns: True iff a node was added to the end of the path.

◆ expand() [2/2]

rw::math::Q expand ( const rw::math::Q & q )

inline

A configuration sampled from the vicinity of q.

Implementation dependant, the sampler may return the empty configuration if no configurations can be sampled near q.

◆ inCollision() [1/3]

static bool inCollision	(	const PlannerConstraint &	constraint,
		const rw::math::Q &	q
	)

inlinestatic

Collision checking for a configuration.

Parameters

constraint	[in] Collision checking constraint.
q	[in] Configuration to check for collisions.

◆ inCollision() [2/3]

static bool inCollision	(	const PlannerConstraint &	constraint,
		const rw::math::Q &	start,
		const rw::math::Q &	end,
		bool	checkStart = `true`,
		bool	checkEnd = `true`
	)

static

Collision checking for a segment.

Parameters

start	[in] Start of segment
end	[in] End of segment
constraint	[in] Constraint for segment
checkStart	[in] Check start configuration for collision.
checkEnd	[in] Check end configuration for collision.

◆ inCollision() [3/3]

static bool inCollision	(	const PlannerConstraint &	constraint,
		const std::vector< rw::math::Q > &	path
	)

static

Collision checking for a path of configurations.

Each configuration and edge of path is checked using the configuration and edge constraints of constraint.

constraint [in] Constraint for path.

path [in] Sequence of configurations.

Returns: true iff path is in collision.

◆ instance()

StopCriteria::Ptr instance ( ) const

A new instance of the property constructed to match the original initial state of the criteria.

This implies, for example, that instance() called for a time criteria creates a new criteria that stops after the same amount of time that was specified for the original stop criteria.

Not all stop criteria returned are required to behave this way. For some types of stop criteria, the instances of the stop criteria will be effectively identical to the stop criteria itself.

◆ make() [1/7]

static ARWExpand::Ptr make	(	const rw::models::Device::QBox &	bounds,
		const rw::pathplanning::PlannerConstraint &	constraint,
		const rw::math::Q &	minVariances = `rw::math::Q()`,
		int	historySize = `-1`
	)

static

Constructor.

The expansion method computes the variance for the latest historySize elements of the path and performs one step sampled from a Gaussian distribution with the computed variances. Variances lower than minVariances are never used.

If minVariances is empty, then a default value is chosen based on bounds.

If historySize is negative, a default value is chosen.

Parameters

bounds	[in] Configuration space bounds.
constraint	[in] Path planning constraint.
minVariances	[in] Minimum variances.
historySize	[in] Number of previous elements of the path to use for variance computation.

◆ make() [2/7]

static QSampler::Ptr make	(	rw::core::Ptr< QIKSampler >	sampler,
		const rw::math::Transform3D<> &	target
	)

static

A sampler of IK solutions for a specific target.

Parameters

sampler	[in] Sampler of IK solutions for target.
target	[in] Target for IK solver.

◆ make() [3/7]

static QIKSampler::Ptr make	(	rw::core::Ptr< rw::models::Device >	device,
		const rw::kinematics::State &	state,
		rw::core::Ptr< rw::invkin::IterativeIK >	solver = `NULL`,
		rw::core::Ptr< QSampler >	seed = `NULL`,
		int	maxAttempts = `-1`
	)

static

An IK sampler based on an iterative IK solver.

All solutions returned are checked to be within the bounds of the device.

Parameters

device	[in] The device for which seeds are sampled.
state	[in] Fixed state with respect to which IK is solved.
solver	[in] Optional IK solver for device and state.
seed	[in] Optional sampler of seeds to feed the IK solver.
maxAttempts	[in] Optional number of seeds to feed the IK solver. If maxAttempts is negative, a default value for maxAttempts is chosen.

◆ make() [4/7]

static PlannerConstraint make	(	rw::core::Ptr< rw::pathplanning::QConstraint >	constraint,
		QEdgeConstraint::Ptr	edge
	)

static

A (QConstraintPtr, QEdgeConstraintPtr) tuple.

This is equivalent to the standard constructor.

◆ make() [5/7]

static PlannerConstraint make	(	rw::core::Ptr< rw::proximity::CollisionDetector >	detector,
		rw::core::Ptr< const rw::models::Device >	device,
		const rw::kinematics::State &	state
	)

static

Planner constraint for a collision detector.

Path are checked discretely for a default device dependent resolution.

◆ make() [6/7]

static PlannerConstraint make	(	rw::core::Ptr< rw::proximity::CollisionStrategy >	strategy,
		const rw::proximity::CollisionSetup &	setup,
		rw::core::Ptr< rw::models::WorkCell >	workcell,
		rw::core::Ptr< const rw::models::Device >	device,
		const rw::kinematics::State &	state
	)

static

Planner constraint for a collision strategy and collision setup.

Path are checked discretely for a default device dependent resolution.

◆ make() [7/7]

static PlannerConstraint make	(	rw::core::Ptr< rw::proximity::CollisionStrategy >	strategy,
		rw::core::Ptr< rw::models::WorkCell >	workcell,
		rw::core::Ptr< const rw::models::Device >	device,
		const rw::kinematics::State &	state
	)

static

Planner constraint for a collision strategy.

Path are checked discretely for a default device dependent resolution.

The default collision setup of the workcell is used.

◆ makeBoxDirectionSampler()

static QSampler::Ptr makeBoxDirectionSampler ( const rw::models::Device::QBox & bounds )

static

Sampler of direction vectors for a box shaped configuration space.

Each random direction vector is found by sampling a configuration uniformly at random from bounds, and returning the vector from the center of the box to the configuration. The returned direction vector can therefore be of length zero.

◆ makeConstrained() [1/2]

static QIKSampler::Ptr makeConstrained	(	QIKSampler::Ptr	sampler,
		rw::core::Ptr< QConstraint >	constraint,
		int	maxAttempts = `-1`
	)

static

An IK sampler filtered by a constraint.

For each call of sample() up to maxAttempts configurations are extracted from sampler and checked by constraint. The first sample that satisfies the constraint is returned; if no such were found the empty configuration is returned.

If maxAttempts is negative, then sampler is sampled forever until either the sampler is empty or a configuration satisfying constraint is found.

◆ makeConstrained() [2/2]

static QSampler::Ptr makeConstrained	(	QSampler::Ptr	sampler,
		rw::core::Ptr< const QConstraint >	constraint,
		int	maxAttempts = `-1`
	)

static

A sampler filtered by a constraint.

For each call of sample() up to maxAttempts configurations are extracted from sampler and checked by constraint. The first sample that satisfies the constraint is returned; if no such were found the empty configuration is returned.

If maxAttempts is negative (this is the default), then sampler is sampled forever until either the sampler is empty or a configuration satisfying constraint is found.

◆ makeFinite() [1/2]

static QSampler::Ptr makeFinite ( const std::vector< rw::math::Q > & qs )

static

Sampler for the values of a finite sequence.

sample() returns each of the values of qs in order. When all of these samples have been returned, empty() returns true and sample() returns the empty configuration.

◆ makeFinite() [2/2]

static QSampler::Ptr makeFinite	(	QSampler::Ptr	sampler,
		int	cnt
	)

static

A sampler to that returns only the first cnt samples from another sampler.

The sampler is considered empty as soon as sampler is empty or the sampler has been called cnt times or more.

◆ makeFixed()

static QSampler::Ptr makeFixed ( const rw::math::Q & q )

static

Sampler that always returns the same configuration.

The sampler is considered never empty (empty() always returns false).

◆ makeNormalized() [1/3]

static QConstraint::Ptr makeNormalized	(	const QConstraint::Ptr &	constraint,
		const QNormalizer &	normalizer
	)

static

Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations.

Configuration values are mapped from normalized configurations into standard configurations using normalizer.

◆ makeNormalized() [2/3]

static QConstraint::Ptr makeNormalized	(	const QConstraint::Ptr &	constraint,
		const rw::models::Device &	device
	)

static

Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations.

Configuration values are mapped from the range [0, 1] into the corresponding position in the configuration space of device.

◆ makeNormalized() [3/3]

static QConstraint::Ptr makeNormalized	(	const QConstraint::Ptr &	constraint,
		const std::pair< rw::math::Q, rw::math::Q > &	bounds
	)

static

Map a configuration constraint for standard configurations into a configuration constraint for normalized configurations.

Configuration values are mapped from the range [0, 1] into the corresponding position in the box bounds.

◆ makeShrinkingUniformBox() [1/2]

static SBLExpand::Ptr makeShrinkingUniformBox	(	rw::core::Ptr< rw::pathplanning::QConstraint >	constraint,
		const QBox &	outer,
		const QBox &	inner
	)

static

Sample within a box of decreasing size until a collision free configuration is found.

The inner box shrinks in size as 1, 1/2, 1/3, ...

This form of expansion is typical for SBL planners.

The inner and outer box are specified as explained for makeUniformBox().

◆ makeShrinkingUniformBox() [2/2]

static SBLExpand::Ptr makeShrinkingUniformBox	(	rw::core::Ptr< rw::pathplanning::QConstraint >	constraint,
		const QBox &	outer,
		double	ratio
	)

static

Sample within a box of shrinking size until a collision free configuration is found.

The inner box shrinks in size as 1, 1/2, 1/3, ...

This form of expansion is typical for SBL planners.

The inner and outer box are specified as explained for makeUniformBox().

◆ makeShrinkingUniformJacobianBox()

static SBLExpand::Ptr makeShrinkingUniformJacobianBox	(	rw::core::Ptr< rw::pathplanning::QConstraint >	constraint,
		rw::core::Ptr< rw::models::Device >	device,
		const rw::kinematics::State &	state,
		rw::core::Ptr< rw::models::JacobianCalculator >	jacobian,
		double	angle_max = `-1`,
		double	disp_max = `-1`
	)

static

Sample within a box of shrinking size until a collision free configuration is found.

The size of the inner box depends on the Jacobian of the current configuration. The radius for the i'th dimension of the inner box is

R_i = min(angle_max / angle_vel, disp_max / disp_vel)

where angle_vel is the magnitude of the angular velocity and disp_vel is the magnitude of the translational velocity.

If jacobian is NULL, a default device Jacobian is chosen based on device.

If angle_max or disp_max is negative, a default value for the variable is chosen.

The inner box shrinks in size as 1, 1/2, 1/3, ...

◆ makeSingle()

static QSampler::Ptr makeSingle ( const rw::math::Q & q )

static

Sampler that always returns a single configuration.

The sample() returns q the first time the method is called and the empty configuration otherwise. empty() returns true after the first call of sample().

◆ makeUniformBox() [1/2]

static SBLExpand::Ptr makeUniformBox	(	const QBox &	outer,
		const QBox &	inner
	)

static

       @brief Expansion within the overlap of an inner and outer box.

       Given a configuration \b q, the expand() method returns a configuration
       sampled uniformly at random from the intersection between

q + inner

and

outer

       Given a \b device, you typically use \b device.getBounds() as the box
       for the outer configuration space.

       If the overlap between the boxes is empty, expand() returns the empty
       configuration.

◆ makeUniformBox() [2/2]

static SBLExpand::Ptr makeUniformBox	(	const QBox &	outer,
		double	ratio
	)

static

       @brief Expansion within a scaled down box of the configuration space.

       Given a configuration \b q, the expand() method samples a
       configuration uniformly at random from the intersection between

q + inner

and

outer

where inner equals outer scaled by a factor of ratio and centered at origo.

This is a form of expansion you will use in a standard implementation of an SBL planner.

ratio must be positive.

If outer is non-empty, the expand() method will always return a non-empty configuration.

◆ normalizingInfinityMetric()

static rw::math::QMetric::Ptr normalizingInfinityMetric	(	const rw::models::Device::QBox &	bounds,
		double	length = `1`
	)

static

Weighted infinity metric that maps the maps the longest vector in the configuration space to a given length.

Parameters

bounds	[in] Lower and upper corner of the configuration space.
length	[in] The wanted distance between lower and upper corner.

Returns: Metric for which the distance from lower to upper corner equals length.

◆ PlannerConstraint()

PlannerConstraint	(	rw::core::Ptr< rw::pathplanning::QConstraint >	constraint,
		QEdgeConstraint::Ptr	edge
	)

A (QConstraintPtr, QEdgeConstraintPtr) tuple.

The constraints must be non-null.

◆ QConstraint()

QConstraint ( )

inlineprotected

Constructor

◆ sample() [1/2]

rw::math::Q sample ( )

inline

Sample a configuration.

If sampling fails, the sampler may return the empty configuration. If empty() is true then the sampler has no more configurations. Otherwise sample() may (or may not) succeed if called a second time.

◆ sample() [2/2]

rw::math::Q sample ( const rw::math::Transform3D<> & target )

inline

Sample a configuration that solves an IK problem for target.

If sampling fails, the sampler may return the empty configuration. If empty() is true then the sampler has no more configurations. Otherwise sample() may (or may not) succeed if called a second time.

◆ setLog() [1/2]

virtual void setLog ( rw::core::Log::Ptr log )

virtual

Set the log to be used for writing debug info.

Parameters

log	[in] Log to which debug information is to be written

◆ setLog() [2/2]

virtual void setLog ( rw::core::Ptr< rw::core::Log > log )

virtual

Set the log to be used for writing debug info.

Parameters

log	[in] Log to which debug information is to be written

◆ stopAfter()

static StopCriteria::Ptr stopAfter ( double time )

static

Stop the computation after time seconds from now.

RobWork does not link with a thread library, and therefore this function is implemented by polling a timer. This makes the function relatively slow for its purpose.

◆ stopByFlag()

static StopCriteria::Ptr stopByFlag ( bool * stop )

static

Stop the computation when stop says so.

stop must be non-null.

Ownership of stop is not taken.

◆ timeMetric() [1/2]

static rw::math::QMetric::Ptr timeMetric ( const rw::math::Q & speed )

static

Metric for the distance in time between a pair of configurations.

The metric implements a simple scaled infinity-norm metric: The metric assumes that the joints move synchronously with the joint velocities given by speed.

◆ timeMetric() [2/2]

static rw::math::QMetric::Ptr timeMetric ( const rw::models::Device & device )

static

Metric for the distance in time between a pair of configurations.

The metric implements a simple scaled infinity-norm metric: The metric assumes that the joints move synchronously with the maximum joint velocities given by device.

◆ update()

void update ( const rw::kinematics::State & state )

Updates the constraint with a new state.

The method might not have an effect on all constrainttypes.

◆ ~StateConstraint()

virtual ~StateConstraint ( )

inlinevirtual

Destructor

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ QBox

Enumeration Type Documentation

◆ EstimateType

Function Documentation

◆ clampPosition() [1/2]

◆ clampPosition() [2/2]

◆ doEmpty() [1/2]

◆ doEmpty() [2/2]

◆ doExpand()

◆ doSetLog() [1/2]

◆ doSetLog() [2/2]

◆ doUpdate()

◆ estimateMotionWeights()

◆ expand() [1/2]

◆ expand() [2/2]

◆ inCollision() [1/3]

◆ inCollision() [2/3]

◆ inCollision() [3/3]

◆ instance()

◆ make() [1/7]

◆ make() [2/7]

◆ make() [3/7]

◆ make() [4/7]

◆ make() [5/7]

◆ make() [6/7]

◆ make() [7/7]

◆ makeBoxDirectionSampler()

◆ makeConstrained() [1/2]

◆ makeConstrained() [2/2]

◆ makeFinite() [1/2]

◆ makeFinite() [2/2]

◆ makeFixed()

◆ makeNormalized() [1/3]

◆ makeNormalized() [2/3]

◆ makeNormalized() [3/3]

◆ makeShrinkingUniformBox() [1/2]

◆ makeShrinkingUniformBox() [2/2]

◆ makeShrinkingUniformJacobianBox()

◆ makeSingle()

◆ makeUniformBox() [1/2]

◆ makeUniformBox() [2/2]

◆ normalizingInfinityMetric()

◆ PlannerConstraint()

◆ QConstraint()

◆ sample() [1/2]

◆ sample() [2/2]

◆ setLog() [1/2]

◆ setLog() [2/2]

◆ stopAfter()

◆ stopByFlag()

◆ timeMetric() [1/2]

◆ timeMetric() [2/2]

◆ update()

◆ ~StateConstraint()