KrisLibrary  1.0.0
Classes | Public Types | Public Member Functions | Public Attributes | List of all members
MultiModalPRM Class Reference

Classes

struct  ModeInfo
 
struct  TransitionIndex
 
struct  TransitionInfo
 

Public Types

typedef Graph::UndirectedGraph< ModeInfo, TransitionInfoPlanningGraph
 

Public Member Functions

 MultiModalPRM (MultiModalCSpace< int > *cspace)
 
void InitializeExplicit (ExplicitMMCSpace *cspace)
 
void SetStart (const Config &q, int mode)
 
void SetGoal (const Config &q, int mode)
 
void SetStartMode (int mode)
 
void SetGoalMode (int mode)
 
void ExpandAll ()
 
void ExpandMode (int mode, int numSamples=-1)
 
void ExpandTrans (int m1, int m2, int numSamples=-1)
 
void AddTransition (int m1, int m2, const Config &q)
 
bool IsStartAndGoalConnected () const
 
TransitionIndex NodeToTransitionIndex (int mode, int roadmapIndex) const
 
void ConnectTransitions (int mode, int t1, int t2)
 
void ConnectTransitions (const TransitionIndex &t1, const TransitionIndex &t2)
 
void GetTransitionNodes (int mode, std::vector< TransitionIndex > &transitions, std::vector< int > &roadmapIndices) const
 

Public Attributes

MultiModalCSpace< int > * space
 
PlanningGraph planningGraph
 
int startMode
 
int startRoadmapIndex
 
int goalMode
 
int goalRoadmapIndex
 
int numExpandModeSamples
 
int numExpandTransSamples
 
MotionPlannerFactory plannerFactory
 
std::map< TransitionIndex, int > ccIndex
 
Graph::ConnectedComponents ccs
 
int modeSampleCount
 
int transSampleCount
 

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