jafar::p3d::P3DPlanSolution Class Reference

The class P3dPlanSolution represents a classic solution of the planner. More...

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Detailed Description

The class P3dPlanSolution represents a classic solution of the planner.

It is used too to store some information between different call of p3d::Plan.

Definition at line 171 of file P3d.hpp.

#include <P3d.hpp>

List of all members.

Public Member Functions
	P3DPlanSolution ()
	Basic constructor.
	P3DPlanSolution (int depth, int nNodes)
	Another constructor.
	~P3DPlanSolution ()
	A destructor.
double	curv () const
double	d () const
double	cost () const
int	depth () const
double	v () const
void	set_v (double v)
void	set_w (double w)
void	set_time (double time)
double	alpha () const
double	time () const
void	display_arc_cost () const
	print the cost of differents arcs of the choosen move
::P3DPlanSolution *	get_data ()
	return the internal solution data.
void	set_data (int depth, int nNodes)
	set_data change the parameters of the solution.
std::string	gdhe_display (jafar::geom::T3DEuler &m2o) const
	gdhe_display returns a Gdhe Representation of the path elected by p3d
Private Member Functions
void	clear_data ()
Private Attributes
::P3DPlanSolution *	_pdata
	internal calife representation

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Constructor & Destructor Documentation

jafar::p3d::P3DPlanSolution::P3DPlanSolution	(	int	depth,
		int	nNodes
	)

Another constructor.

Parameters:

depth	represents the max depth solution we wait for
nNodes	represents the max number of nodes we wait for

Returns:

A valid object.

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Member Function Documentation

double jafar::p3d::P3DPlanSolution::alpha

(

)

const

Returns:

the alpha of the wheel for the choosen move

double jafar::p3d::P3DPlanSolution::cost

(

)

const

Returns:

cost of the choosen move ( highter it is, worst it is)

double jafar::p3d::P3DPlanSolution::curv

(

)

const

Returns:

the curvature ray for the choosen move

double jafar::p3d::P3DPlanSolution::d

(

)

const

Returns:

the distance computed for the choosen move

void jafar::p3d::P3DPlanSolution::display_arc_cost

(

)

const

print the cost of differents arcs of the choosen move

Returns:

Nothing

std::string jafar::p3d::P3DPlanSolution::gdhe_display

(

jafar::geom::T3DEuler &

m2o

)

const

gdhe_display returns a Gdhe Representation of the path elected by p3d

Parameters:

m2o	is the transformation between origin frame and robot frame (at the time where we call P3d::plan)

Returns:

a string representing a gdhe object

::P3DPlanSolution* jafar::p3d::P3DPlanSolution::get_data

(

)

return the internal solution data.

useful to call some calife function.

Returns:

_pdata

void jafar::p3d::P3DPlanSolution::set_data	(	int	depth,
		int	nNodes
	)

set_data change the parameters of the solution.

Parameters:

depth	represents the max depth solution we wait for
nNodes	represents the max number of nodes we wait for

Returns:

Nothing.

_pdata is modified.

double jafar::p3d::P3DPlanSolution::time

(

)

const

Returns:

the average time to compute a p3d Plan

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The documentation for this class was generated from the following file:

• modules/p3d/include/p3d/P3d.hpp