A planner class is a wrapper against a p3dPlanner. More...

Detailed Description

A planner class is a wrapper against a p3dPlanner.

It contains some information about the robot configuration, robot geometry and algorithm configuration

Definition at line 25 of file P3d.hpp.

#include <P3d.hpp>

Public Member Functions
	P3DPlanner ()
	A dummy constructor.
	~P3DPlanner ()
	The Destructur.
::P3DPlanner *	get_data () const
	The method get_data returns the internal p3dPlanner.
void	configureGeom (double len[3], double rad[2], double arm[2], double bodyLength, double bodyWidth, double zBody, double groundClear, double rollLimits[3], double pichLimits[3], double alphaLimits[3], double betaLimits[3], double unkMax)
	The method configureGeom is called to configure the geometry of a robot.
void	configureRobot (double scale, double rollStep, double vMin, double vMax, double wMax, double accel, double decel)
	The method configureRobot is called to configure internal state of a robot.
void	configureArcs (int nArcs, int nNodes, int depth, double rMin, double goalTol, double dMin)
	the method configureArcs is called to configure internal configuration for arcs (representing the available trajectory
Private Attributes
::P3DPlanner *	_pdata
	Internal calife struct.

Member Function Documentation

void jafar::p3d::P3DPlanner::configureArcs	(	int	nArcs,
		int	nNodes,
		int	depth,
		double	rMin,
		double	goalTol,
		double	dMin
	)

the method configureArcs is called to configure internal configuration for arcs (representing the available trajectory

Parameters:

nArcs	represents the number of arcs computed at depth 0.
nNodes	represents the max number of nodes on each arc
depth	represents the depth of the tree (note that for moment, at each level of tree, we divide by two the number of node)
rMin	represents the minimum arc curvature. We will construct nArcs arcs betwwen - rMin and rMin.
goalTol	represents the maximum distance where we consider that we have reached the goal.
dMin	represents the minimum length of each arc

void jafar::p3d::P3DPlanner::configureGeom	(	double	len[3],
		double	rad[2],
		double	arm[2],
		double	bodyLength,
		double	bodyWidth,
		double	zBody,
		double	groundClear,
		double	rollLimits[3],
		double	pichLimits[3],
		double	alphaLimits[3],
		double	betaLimits[3],
		double	unkMax
	)

The method configureGeom is called to configure the geometry of a robot.

TODO : describe better the parameters. Most of the information are in conf file.

void jafar::p3d::P3DPlanner::configureRobot	(	double	scale,
		double	rollStep,
		double	vMin,
		double	vMax,
		double	wMax,
		double	accel,
		double	decel
	)

The method configureRobot is called to configure internal state of a robot.

Parameters:

scale	represents the scale used to represent the wheel. It must be less than the dtm scale
rollStep	is the precision of the placement, aka the distance between two wheel configuration.
vMin	is the minimal accessible speed. Most of the time, it is not 0 due to other physics issues.
vMax	is the maximal accessible linear speed.
wMax	is the maximal accesssible rotation speed.
accel	is the maximum accelaration (not used currently)
decel	is the maximum decellaration (used for exemple to compute the distance before stopping

::P3DPlanner* jafar::p3d::P3DPlanner::get_data ( ) const

The method get_data returns the internal p3dPlanner.

It is used to speak directly with calife-p3d or another old school api.

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