jafar::p3d::P3dArcDumper Class Reference

the class P3DArcDumper provides a way to dump and manipulate all the arcs used in p3d algorithm. More...

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Detailed Description

the class P3DArcDumper provides a way to dump and manipulate all the arcs used in p3d algorithm.

Definition at line 462 of file P3d.hpp.

#include <P3d.hpp>

List of all members.

Public Member Functions
	P3dArcDumper (const jafar::p3d::P3d &p3d, jafar::geom::T3D &m2o)
	The constructor Information like n_arcs and max_depth are taken from P3d::conffile.
	~P3dArcDumper ()
	The destructor.
void	update (const jafar::p3d::P3d &p3d, jafar::geom::T3D &m2o)
	Update the arcs ( their position, their cost ..)
std::string	gdhe_display () const
	Constructs the gdhe representation of the arcs.
void	display (bool only_valid) const
	Display on stderr various informations about each arcs.
void	display_to_file (bool only_valid, const std::string &path) const
	Write various information about each arcs in a file.
int	set_next_node_coords (jafar::geom::T3DEuler &pos) const
	Give the "next" node coords from the elected arcs.
Private Member Functions
bool	has_valid_cost (int, int) const
void	_dump (bool, std::ostream &) const
int	evaluate_nb_arcs (int nArcs, int depth)
	This evaluate computes the number of arcs used by P3D tree.
Private Attributes
::P3DArcDump *	_pdata
	Internal calife data.
jafar::geom::T3DEuler	_m2o
	transformation between origin and robot frame
int	_n_arcs
	Number of arcs at level 0.
int	_max_depth
	Max depth of p3dDumper.

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Constructor & Destructor Documentation

jafar::p3d::P3dArcDumper::P3dArcDumper	(	const jafar::p3d::P3d &	p3d,
		jafar::geom::T3D &	m2o
	)

The constructor Information like n_arcs and max_depth are taken from P3d::conffile.

Parameters:

p3d	represents the P3D object on which we want to extract arcs
m2o	represents the transformation between origin and robot frame. It must be coherent with the last execution of P3d::plan

Returns:

a valid object

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Member Function Documentation

void jafar::p3d::P3dArcDumper::display

(

bool

only_valid

)

const

Display on stderr various informations about each arcs.

Parameters:

only_valid

: if it sets to true, the method will only print arcs which are valid (aka which has been computed on this iteration. If it is false, print all arcs

Returns:

Lots of informations on stderr

void jafar::p3d::P3dArcDumper::display_to_file	(	bool	only_valid,
		const std::string &	path
	)		const

Write various information about each arcs in a file.

Parameters:

only_valid	: if it sets to true, the method will only print arcs which are valid (aka which has been computed on this iteration. If it is false, print all arcs
path	represents the path of the result file

Returns:

PathFile is written

int jafar::p3d::P3dArcDumper::evaluate_nb_arcs	(	int	nArcs,
		int	depth
	)		[private]

This evaluate computes the number of arcs used by P3D tree.

Parameters:

nArcs	represents the number of initial arc at depth 0
depth	represents the depth of the P3D tree (depth > 0)

Returns:

the number of arcs in the P3D tree

std::string jafar::p3d::P3dArcDumper::gdhe_display

(

)

const

Constructs the gdhe representation of the arcs.

Returns:

a vector of string, each strings represent one arcs

Warning:

It seems more or less bugged for moment

int jafar::p3d::P3dArcDumper::set_next_node_coords

(

jafar::geom::T3DEuler &

pos

)

const

Give the "next" node coords from the elected arcs.

It is used to run simulation. pos will represents the next position of the vehicule

Returns:

-1 in case of failure (no arcs elected)

0 in case of success, and pos is modified.

Warning:

This method is bugged in the spirit and probably will be removed in near future

void jafar::p3d::P3dArcDumper::update	(	const jafar::p3d::P3d &	p3d,
		jafar::geom::T3D &	m2o
	)

Update the arcs ( their position, their cost ..)

Parameters:

p3d	represents the P3D object from which we want to extract arcs
m2o	represents the transformation between origin and robot frame. It must be coherent with the last execution of P3d::plan

Returns:

Nothing.

_pdata and _m2o are modified.

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

• modules/p3d/include/p3d/P3d.hpp