Main Page Class Hierarchy Compound List File List Compound Members File Members

Problem Class Reference

An interface class that provides the primary input to a planner. More...

#include <problem.h>

List of all members.

Public Methods

Problem (Geom *geom, Model *model, string path)

Problem must be given any instance of Geom and any instance of Model from each of their class hierarchies.

virtual ~Problem ()

Empty destructor.

void SetGeom (Geom *geom)

Change the instance of Geom.

void SetModel (Model *model)

Change the instance of Model.

virtual list<MSLVector> GetInputs (const MSLVector &x)

Return a list of possible inputs, which may depend on state.

virtual list<MSLVector> GetInputs ()

Return a list of possible inputs.

virtual MSLVector Integrate (const MSLVector &x, const MSLVector &u, const double &deltat)

Perform integration from state x, using input u, over time deltat.

virtual MSLVector InterpolateState (const MSLVector &x1, const MSLVector &x2, const double &a)

Linearly interpolate two states while respecting topology. More...

virtual double Metric (const MSLVector &x1, const MSLVector &x2)

A distance metric defined in Model.

virtual MSLVector StateToConfiguration (const MSLVector &x)

A method that converts a Model state in to a Geom configuration.

virtual MSLVector StateDifference (const MSLVector &x1, const MSLVector &x2)

Compute a MSLVector based on x2-x1. In R^n, the states are simply subtracted to make the MSLVector. This method exists to make things work correctly for other state-space topologies.

virtual bool Satisfied (const MSLVector &x)

This takes the logical AND of CollisionFree from Geom, and Satisfied from Model.

virtual bool CollisionFree (const MSLVector &q)

The collision checker passed in from Geom.

virtual double DistanceComp (const MSLVector &q)

The distance computation algorithm from Geom.

virtual MSLVector ConfigurationDifference (const MSLVector &q1, const MSLVector &q2)

Compute a MSLVector based on q2-q1. In R^n, the configurations are simply subtracted to make the MSLVector. This method exists to make things work correctly for other configuration-space topologies.

Public Attributes

string FilePath

The directory in which all files for a problem will be stored.

int NumBodies

The number of rigid bodies.

int StateDim

The dimenson of the state space.

int InputDim

The dimension of the input space.

int GeomDim

The dimension of the geometric model.

MSLVector LowerState

MSLVector of minimum values for each state variable.

MSLVector UpperState

MSLVector of maximum values for each state variable.

MSLVector InitialState

The starting state for a planner.

MSLVector GoalState

The goal state for a planner.

MSLVector MaxDeviates

Maximum displacement of geometry with respect to change in each variable.

Protected Attributes

Geom* G

Need to define a geometry for collision detection.

Model* M

xdot = f(x,u), integration technique, state bounds.

Detailed Description

An interface class that provides the primary input to a planner.

This interface class contains protected instances of Geom and Model. Wrappers to methods from Geom provide collision detection and distance computation. Wrappers to methods from Model provide incremental simulation of a kinematic or dynamical system. It is expected a planner can get all (or nearly all) of the information it needs from Problem.

Constructor & Destructor Documentation

Problem::Problem ( Geom * geom,

Model * model,

string path )

Problem must be given any instance of Geom and any instance of Model from each of their class hierarchies.

Problem::~Problem ( ) [inline, virtual]

Empty destructor.

Member Function Documentation

bool Problem::CollisionFree ( const MSLVector & q ) [virtual]

The collision checker passed in from Geom.

MSLVector Problem::ConfigurationDifference ( const MSLVector & q1,

const MSLVector & q2 ) [virtual]

Compute a MSLVector based on q2-q1. In R^n, the configurations are simply subtracted to make the MSLVector. This method exists to make things work correctly for other configuration-space topologies.

double Problem::DistanceComp ( const MSLVector & q ) [virtual]

The distance computation algorithm from Geom.

list< MSLVector > Problem::GetInputs ( ) [virtual]

Return a list of possible inputs.

list< MSLVector > Problem::GetInputs ( const MSLVector & x ) [virtual]

Return a list of possible inputs, which may depend on state.

MSLVector Problem::Integrate ( const MSLVector & x,

const MSLVector & u,

const double & deltat ) [virtual]

Perform integration from state x, using input u, over time deltat.

MSLVector Problem::InterpolateState ( const MSLVector & x1,

const MSLVector & x2,

const double & a ) [virtual]

Linearly interpolate two states while respecting topology.
If a=0, then x1 is returned; if a=1, then x2 is returned. All intermediate values of $a \in [0,1]$ yield intermediate states. This method is defined by Model.

double Problem::Metric ( const MSLVector & x1,

const MSLVector & x2 ) [virtual]

A distance metric defined in Model.

bool Problem::Satisfied ( const MSLVector & x ) [virtual]

This takes the logical AND of CollisionFree from Geom, and Satisfied from Model.

void Problem::SetGeom ( Geom * geom )

Change the instance of Geom.

void Problem::SetModel ( Model * model )

Change the instance of Model.

MSLVector Problem::StateDifference ( const MSLVector & x1,

const MSLVector & x2 ) [virtual]

Compute a MSLVector based on x2-x1. In R^n, the states are simply subtracted to make the MSLVector. This method exists to make things work correctly for other state-space topologies.

MSLVector Problem::StateToConfiguration ( const MSLVector & x ) [virtual]

A method that converts a Model state in to a Geom configuration.

Member Data Documentation

string Problem::FilePath

The directory in which all files for a problem will be stored.

Geom * Problem::G [protected]

Need to define a geometry for collision detection.

int Problem::GeomDim

The dimension of the geometric model.

MSLVector Problem::GoalState

The goal state for a planner.

MSLVector Problem::InitialState

The starting state for a planner.

int Problem::InputDim

The dimension of the input space.

MSLVector Problem::LowerState

MSLVector of minimum values for each state variable.

Model * Problem::M [protected]

xdot = f(x,u), integration technique, state bounds.

MSLVector Problem::MaxDeviates

Maximum displacement of geometry with respect to change in each variable.

int Problem::NumBodies

The number of rigid bodies.

int Problem::StateDim

The dimenson of the state space.

MSLVector Problem::UpperState

MSLVector of maximum values for each state variable.

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

problem.h

Motion Strategy Library

Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.

Public Methods
	Problem (Geom geom, Model model, string path)
	Problem must be given any instance of Geom and any instance of Model from each of their class hierarchies.
virtual	~Problem ()
	Empty destructor.
void	SetGeom (Geom *geom)
	Change the instance of Geom.
void	SetModel (Model *model)
	Change the instance of Model.
virtual list<MSLVector>	GetInputs (const MSLVector &x)
	Return a list of possible inputs, which may depend on state.
virtual list<MSLVector>	GetInputs ()
	Return a list of possible inputs.
virtual MSLVector	Integrate (const MSLVector &x, const MSLVector &u, const double &deltat)
	Perform integration from state x, using input u, over time deltat.
virtual MSLVector	InterpolateState (const MSLVector &x1, const MSLVector &x2, const double &a)
	Linearly interpolate two states while respecting topology. More...
virtual double	Metric (const MSLVector &x1, const MSLVector &x2)
	A distance metric defined in Model.
virtual MSLVector	StateToConfiguration (const MSLVector &x)
	A method that converts a Model state in to a Geom configuration.
virtual MSLVector	StateDifference (const MSLVector &x1, const MSLVector &x2)
	Compute a MSLVector based on x2-x1. In R^n, the states are simply subtracted to make the MSLVector. This method exists to make things work correctly for other state-space topologies.
virtual bool	Satisfied (const MSLVector &x)
	This takes the logical AND of CollisionFree from Geom, and Satisfied from Model.
virtual bool	CollisionFree (const MSLVector &q)
	The collision checker passed in from Geom.
virtual double	DistanceComp (const MSLVector &q)
	The distance computation algorithm from Geom.
virtual MSLVector	ConfigurationDifference (const MSLVector &q1, const MSLVector &q2)
	Compute a MSLVector based on q2-q1. In R^n, the configurations are simply subtracted to make the MSLVector. This method exists to make things work correctly for other configuration-space topologies.
Public Attributes
string	FilePath
	The directory in which all files for a problem will be stored.
int	NumBodies
	The number of rigid bodies.
int	StateDim
	The dimenson of the state space.
int	InputDim
	The dimension of the input space.
int	GeomDim
	The dimension of the geometric model.
MSLVector	LowerState
	MSLVector of minimum values for each state variable.
MSLVector	UpperState
	MSLVector of maximum values for each state variable.
MSLVector	InitialState
	The starting state for a planner.
MSLVector	GoalState
	The goal state for a planner.
MSLVector	MaxDeviates
	Maximum displacement of geometry with respect to change in each variable.
Protected Attributes
Geom*	G
	Need to define a geometry for collision detection.
Model*	M
	xdot = f(x,u), integration technique, state bounds.