scene_planning.h File Reference

Motion Planning. More...

#include "scene_ik.h"

Go to the source code of this file.

Functions
AA_API struct aa_rx_mp *	aa_rx_mp_create (const struct aa_rx_sg_sub *sub_sg)
	Create a new motion plannet context for the given sub-scenegraph.
AA_API void	aa_rx_mp_destroy (struct aa_rx_mp *mp)
	Destroy a motion planning context.
AA_API void	aa_rx_mp_set_start (struct aa_rx_mp *mp, size_t n_all, double *q_all)
	Set the motion planning start configuration. More...
AA_API void	aa_rx_mp_allow_config (struct aa_rx_mp *mp, size_t n_all, double *q_all)
	Indicate a valid configuration for the motion planning context. More...
AA_API void	aa_rx_mp_allow_collision (struct aa_rx_mp *mp, aa_rx_frame_id id0, aa_rx_frame_id id1, int allowed)
	Indicate whether collisions between the two given frames are allowed. More...
AA_API int	aa_rx_mp_set_goal (struct aa_rx_mp *mp, size_t n_q, double *q_subset)
	Set the goal as a joint-space configuration.
AA_API int	aa_rx_mp_set_wsgoal (struct aa_rx_mp *mp, size_t n_e, const aa_rx_frame_id *frames, const double *E, size_t ldE)
	Set the goal as workspace pose.
AA_API void	aa_rx_mp_set_simplify (struct aa_rx_mp *mp, int simplify)
	Set whether to simplify the planned path.
AA_API void	aa_rx_mp_set_track_collisions (struct aa_rx_mp *mp, int track)
	Set whether to track collisions.
AA_API const struct aa_rx_cl_set *	aa_rx_mp_get_collisions (const struct aa_rx_mp *mp)
	Get most recent collision data.
AA_API int	aa_rx_mp_plan (struct aa_rx_mp *mp, double timeout, size_t *n_path, double **p_path_all)
	Execute the planner. More...
AA_API struct aa_rx_cl_set *	aa_rx_mp_get_allowed (const struct aa_rx_mp *mp)
	Return a pointer to the allowed collision set for the motion planning context.
AA_API struct aa_rx_mp_rrt_attr *	aa_rx_mp_rrt_attr_create (void)
	Create an RRT attribute struct.
AA_API void	aa_rx_mp_rrt_attr_destroy (struct aa_rx_mp_rrt_attr *)
	Destroy an RRT attribute struct.
AA_API void	aa_rx_mp_rrt_attr_set_bidirectional (struct aa_rx_mp_rrt_attr *attrs, int is_bidirectional)
	Whether the RRT should be bidirectional.
AA_API void	aa_rx_mp_set_rrt (struct aa_rx_mp *mp, const struct aa_rx_mp_rrt_attr *attr)
	Use the RRT motion planning algorithm. More...
AA_API struct aa_rx_mp_sbl_attr *	aa_rx_mp_sbl_attr_create (void)
	Create an SBL attribute struct.
AA_API void	aa_rx_mp_sbl_attr_destroy (struct aa_rx_mp_sbl_attr *)
	Destroy an SBL attribute struct.
AA_API void	aa_rx_mp_set_sbl (struct aa_rx_mp *mp, const struct aa_rx_mp_sbl_attr *attr)
	Use the SBL motion planning algorithm. More...
AA_API struct aa_rx_mp_kpiece_attr *	aa_rx_mp_kpiece_attr_create (void)
	Create an KPIECE attribute struct.
AA_API void	aa_rx_mp_kpiece_attr_destroy (struct aa_rx_mp_kpiece_attr *)
	Destroy an KPIECE attribute struct.
AA_API void	aa_rx_mp_set_kpiece (struct aa_rx_mp *mp, const struct aa_rx_mp_kpiece_attr *attr)
	Use the KPIECE motion planning algorithm. More...

Detailed Description

Motion Planning.

Definition in file scene_planning.h.

Function Documentation

aa_rx_mp_allow_collision()

AA_API void aa_rx_mp_allow_collision	(	struct aa_rx_mp *	mp,
		aa_rx_frame_id	id0,
		aa_rx_frame_id	id1,
		int	allowed
	)

Indicate whether collisions between the two given frames are allowed.

By default, no collisions are allowed.

aa_rx_mp_allow_config()

AA_API void aa_rx_mp_allow_config	(	struct aa_rx_mp *	mp,
		size_t	n_all,
		double *	q_all
	)

Indicate a valid configuration for the motion planning context.

All collisions at the given configuration are assumed to be allowed.

Parameters

mp	The motion planning context
n_all	Length of array q_all
q_all	A valid configuration array (for the entire scene graph).

aa_rx_mp_plan()

AA_API int aa_rx_mp_plan	(	struct aa_rx_mp *	mp,
		double	timeout,
		size_t *	n_path,
		double **	p_path_all
	)

Execute the planner.

Parameters

mp	The motion planning context
timeout	Maximum time to execute the planner
n_path	Number of waypoints in the path.
p_path_all	Output path data. Contains configurations at each waypoint for the entire scene graph. Size is n_path times the configuration space size of the entire scene graph.

aa_rx_mp_set_kpiece()

AA_API void aa_rx_mp_set_kpiece	(	struct aa_rx_mp *	mp,
		const struct aa_rx_mp_kpiece_attr *	attr
	)

Use the KPIECE motion planning algorithm.

Parameters

mp	The motion planning context
attr	Attributes for the planning algorithm (NULL uses defaults)

aa_rx_mp_set_rrt()

AA_API void aa_rx_mp_set_rrt	(	struct aa_rx_mp *	mp,
		const struct aa_rx_mp_rrt_attr *	attr
	)

Use the RRT motion planning algorithm.

Parameters

mp	The motion planning context
attr	Attributes for the planning algorithm (NULL uses defaults)

aa_rx_mp_set_sbl()

AA_API void aa_rx_mp_set_sbl	(	struct aa_rx_mp *	mp,
		const struct aa_rx_mp_sbl_attr *	attr
	)

Use the SBL motion planning algorithm.

Parameters

mp	The motion planning context
attr	Attributes for the planning algorithm (NULL uses defaults)

aa_rx_mp_set_start()

AA_API void aa_rx_mp_set_start	(	struct aa_rx_mp *	mp,
		size_t	n_all,
		double *	q_all
	)

Set the motion planning start configuration.

Parameters

mp	The motion planning context
n_all	Length of array q_all
q_all	Array of start configurations for the entire scene graph.