pnf::Flow Class Reference

#include <Flow.hpp>

List of all members.

---

Detailed Description

High-level interface for PNF.

Uses underlying estar::Facade instances etc for implementing multi-layered propagation and risk computations.

Public Types
typedef std::pair< const estar::array< double > *, double >	array_info_t
Public Member Functions
	~Flow ()
bool	HaveEnvdist () const
void	PropagateEnvdist (bool step)
void	MapEnvdist ()
bool	HaveObjdist (size_t id) const
void	PropagateObjdist (size_t id)
bool	HaveAllObjdist () const
void	PropagateAllObjdist ()
bool	HaveRobdist () const
void	PropagateRobdist ()
void	ComputeAllCooc (double static_buffer_factor, double static_buffer_degree)
	Buffer zones around static objects: If the buffer factor or degree are non-positive, then simple "on/off" information is used.
void	ComputeRisk (const estar::RiskMap &risk_map)
bool	HavePNF () const
void	PropagatePNF ()
void	AddStaticObject (ssize_t ix, ssize_t iy)
void	RemoveStaticObject (ssize_t ix, ssize_t iy)
void	RemoveDynamicObject (size_t id)
bool	AddStaticObject (double x, double y)
bool	RemoveStaticObject (double x, double y)
bool	SetDynamicObject (size_t id, double x, double y, double r, double v)
bool	SetRobot (double x, double y, double r, double v)
bool	SetGoal (double x, double y, double r)
void	DumpEnvdist (FILE *stream) const
void	DumpRobdist (FILE *stream) const
void	DumpObjdist (size_t id, FILE *stream) const
void	DumpObjCooc (size_t id, FILE *stream) const
void	DumpRisk (FILE *stream) const
void	DumpPNF (FILE *stream) const
const estar::Facade *	GetObjdist (size_t id) const
	Returns: 0 if invalid id
const estar::Region *	GetRegion (size_t id) const
	Returns: 0 if invalid id
const estar::Region *	GetGoal () const
	Returns: 0 if invalid
const estar::Region *	GetRobot () const
	Returns: 0 if invalid
const estar::Facade *	GetRobdist () const
	Returns: 0 if no robot defined
estar::Facade &	GetEnvdist ()
boost::shared_ptr< estar::Grid const >	GetEnvdistGrid () const
const estar::Facade &	GetPNF () const
array_info_t	GetRobotLambda () const
	Returns: pair of pointer and max lambda value (excluding infinity) for the robot
array_info_t	GetObjectLambda (size_t id) const
	Returns: pair of pointer and max lambda value (excluding infinity) for an object, or std::make_pair(0, -1) if the id is invalid (no such dynamic object)
array_info_t	GetEnvCooc () const
	Returns: pair of pointer and max cooc value, if the environment co-occurrence has been computed using ComputeAllCooc(), otherwise (0, -1).
array_info_t	GetObjCooc (size_t id) const
	Returns: pair of pointer and max cooc value, or std::make_pair(0, -1) if invalid id or you forgot to call ComputeAllCooc()
array_info_t	GetDynamicCooc () const
	Returns: pair of pointer and max cooc value, or std::make_pair(0, -1) if invalid.
array_info_t	GetRisk () const
	Returns: pair of pointer and max risk value, or std::make_pair(0, -1) if risk not available yet
Static Public Member Functions
static Flow *	Create (ssize_t xsize, ssize_t ysize, double resolution, bool perform_convolution, bool alternate_worst_case)
Public Attributes
const ssize_t	xsize
const ssize_t	ysize
const double	resolution
const double	half_diagonal
const bool	perform_convolution
const bool	alternate_worst_case
Private Types
typedef std::map< size_t, boost::shared_ptr< local::Object > >	objectmap_t
Private Member Functions
	Flow (ssize_t xsize, ssize_t ysize, double resolution, bool perform_convolution, bool alternate_worst_case)
bool	CompIndices (double x, double y, ssize_t &ix, ssize_t &iy) const
estar::Facade *	GetObjdist (size_t id, FILE *verbose_stream) const
bool	DoSetRobot (double x, double y, ssize_t ix, ssize_t iy, double r, double v)
void	DoComputeLambda (local::Robot &obj)
void	DoComputeCooc (local::Object &obj)
Private Attributes
boost::scoped_ptr< estar::Facade >	m_envdist
boost::scoped_ptr< local::Robot >	m_robot
objectmap_t	m_object
boost::scoped_ptr< estar::Facade >	m_pnf
boost::scoped_ptr< estar::Region >	m_goal
boost::scoped_ptr< estar::array< double > >	m_env_cooc
double	m_max_env_cooc
boost::scoped_ptr< estar::array< double > >	m_dynamic_cooc
double	m_max_dynamic_cooc
boost::scoped_ptr< estar::array< double > >	m_risk
double	m_max_risk

---

Member Typedef Documentation

typedef std::pair<const estar::array<double> *, double> pnf::Flow::array_info_t

typedef std::map<size_t, boost::shared_ptr<local::Object> > pnf::Flow::objectmap_t [private]

---

Constructor & Destructor Documentation

pnf::Flow::Flow	(	ssize_t	xsize,
		ssize_t	ysize,
		double	resolution,
		bool	perform_convolution,
		bool	alternate_worst_case
	)			[private]

pnf::Flow::~Flow

(

)

---

Member Function Documentation

Flow * pnf::Flow::Create	(	ssize_t	xsize,
		ssize_t	ysize,
		double	resolution,
		bool	perform_convolution,
		bool	alternate_worst_case
	)			[static]

bool pnf::Flow::HaveEnvdist

(

)

const

Todo:

Can return true after reaching max {object, robot} radius, see Algorithm::GetMaxKnownValue().

void pnf::Flow::PropagateEnvdist

(

bool

step

)

Todo:

Can stop after reaching max {object, robot} radius, see Algorithm::GetMaxKnownValue().

void pnf::Flow::MapEnvdist

(

)

bool pnf::Flow::HaveObjdist

(

size_t

id

)

const

void pnf::Flow::PropagateObjdist

(

size_t

id

)

bool pnf::Flow::HaveAllObjdist

(

)

const

void pnf::Flow::PropagateAllObjdist

(

)

bool pnf::Flow::HaveRobdist

(

)

const

void pnf::Flow::PropagateRobdist

(

)

void pnf::Flow::ComputeAllCooc	(	double	static_buffer_factor,
		double	static_buffer_degree
	)

Buffer zones around static objects: If the buffer factor or degree are non-positive, then simple "on/off" information is used.

Otherwise, a buffer is constructed on the environment distance. Sensible values would be static_buffer_factor=1 and static_buffer_degree=2, resulting in a quadratic risk decrease extending one extra robot radius from the walls.

void pnf::Flow::ComputeRisk

(

const estar::RiskMap &

risk_map

)

bool pnf::Flow::HavePNF

(

)

const

void pnf::Flow::PropagatePNF

(

)

void pnf::Flow::AddStaticObject	(	ssize_t	ix,
		ssize_t	iy
	)

void pnf::Flow::RemoveStaticObject	(	ssize_t	ix,
		ssize_t	iy
	)

void pnf::Flow::RemoveDynamicObject

(

size_t

id

)

bool pnf::Flow::AddStaticObject	(	double	x,
		double	y
	)

bool pnf::Flow::RemoveStaticObject	(	double	x,
		double	y
	)

bool pnf::Flow::SetDynamicObject	(	size_t	id,
		double	x,
		double	y,
		double	r,
		double	v
	)

bool pnf::Flow::SetRobot	(	double	x,
		double	y,
		double	r,
		double	v
	)

bool pnf::Flow::SetGoal	(	double	x,
		double	y,
		double	r
	)

Todo:

URGENT! The goal vs. obstacle problem IS NOT SOLVED!

void pnf::Flow::DumpEnvdist

(

FILE *

stream

)

const

void pnf::Flow::DumpRobdist

(

FILE *

stream

)

const

void pnf::Flow::DumpObjdist	(	size_t	id,
		FILE *	stream
	)			const

void pnf::Flow::DumpObjCooc	(	size_t	id,
		FILE *	stream
	)			const

void pnf::Flow::DumpRisk

(

FILE *

stream

)

const

void pnf::Flow::DumpPNF

(

FILE *

stream

)

const

const estar::Facade* pnf::Flow::GetObjdist

(

size_t

id

)

const [inline]

Returns:

0 if invalid id

const Region * pnf::Flow::GetRegion

(

size_t

id

)

const

Returns:

0 if invalid id

const estar::Region* pnf::Flow::GetGoal

(

)

const [inline]

Returns:

0 if invalid

const Region * pnf::Flow::GetRobot

(

)

const

Returns:

0 if invalid

const Facade * pnf::Flow::GetRobdist

(

)

const

Returns:

0 if no robot defined

estar::Facade& pnf::Flow::GetEnvdist

(

)

[inline]

Todo:

non-const only for debugging?

boost::shared_ptr< estar::Grid const > pnf::Flow::GetEnvdistGrid

(

)

const

Todo:

A hack around estar::CSpace refactoring

const estar::Facade& pnf::Flow::GetPNF

(

)

const [inline]

Flow::array_info_t pnf::Flow::GetRobotLambda

(

)

const

Returns:

pair of pointer and max lambda value (excluding infinity) for the robot

Flow::array_info_t pnf::Flow::GetObjectLambda

(

size_t

id

)

const

Returns:

pair of pointer and max lambda value (excluding infinity) for an object, or std::make_pair(0, -1) if the id is invalid (no such dynamic object)

Flow::array_info_t pnf::Flow::GetEnvCooc

(

)

const

Returns:

pair of pointer and max cooc value, if the environment co-occurrence has been computed using ComputeAllCooc(), otherwise (0, -1).

Flow::array_info_t pnf::Flow::GetObjCooc

(

size_t

id

)

const

Returns:

pair of pointer and max cooc value, or std::make_pair(0, -1) if invalid id or you forgot to call ComputeAllCooc()

Flow::array_info_t pnf::Flow::GetDynamicCooc

(

)

const

Returns:

pair of pointer and max cooc value, or std::make_pair(0, -1) if invalid.

Flow::array_info_t pnf::Flow::GetRisk

(

)

const

Returns:

pair of pointer and max risk value, or std::make_pair(0, -1) if risk not available yet

Note:

the "risk" is "just" the fusion of all co-occurrences

bool pnf::Flow::CompIndices	(	double	x,
		double	y,
		ssize_t &	ix,
		ssize_t &	iy
	)			const [private]

Facade * pnf::Flow::GetObjdist	(	size_t	id,
		FILE *	verbose_stream
	)			const [private]

bool pnf::Flow::DoSetRobot	(	double	x,
		double	y,
		ssize_t	ix,
		ssize_t	iy,
		double	r,
		double	v
	)			[private]

Todo:

URGENT! Goal and obstacle handling not made for replanning.

void pnf::Flow::DoComputeLambda

(

local::Robot &

obj

)

[private]

Todo:

EASY SPEEDUP: loop over border instead of area after checking that the object center is not within the sprite!

void pnf::Flow::DoComputeCooc

(

local::Object &

obj

)

[private]

---

Member Data Documentation

const ssize_t pnf::Flow::xsize

const ssize_t pnf::Flow::ysize

const double pnf::Flow::resolution

const double pnf::Flow::half_diagonal

const bool pnf::Flow::perform_convolution

const bool pnf::Flow::alternate_worst_case

boost::scoped_ptr<estar::Facade> pnf::Flow::m_envdist [private]

boost::scoped_ptr<local::Robot> pnf::Flow::m_robot [private]

objectmap_t pnf::Flow::m_object [private]

boost::scoped_ptr<estar::Facade> pnf::Flow::m_pnf [private]

boost::scoped_ptr<estar::Region> pnf::Flow::m_goal [private]

boost::scoped_ptr<estar::array<double> > pnf::Flow::m_env_cooc [private]

double pnf::Flow::m_max_env_cooc [private]

boost::scoped_ptr<estar::array<double> > pnf::Flow::m_dynamic_cooc [private]

double pnf::Flow::m_max_dynamic_cooc [private]

boost::scoped_ptr<estar::array<double> > pnf::Flow::m_risk [private]

double pnf::Flow::m_max_risk [private]

---

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

• pnf/Flow.hpp
• pnf/Flow.cpp

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E* Interpolated Graph Replanner Wed Dec 12 18:55:51 2007