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Motionfield Class Reference

A class for computing a motion by using a potential field. More...

#include <Motionfield.h>

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List of all members.

Public Member Functions

 Motionfield (const std::string &name)
 Constructor.

virtual ~Motionfield ()
 Destructor.

void execute (const PfPose &pose, PotentialfieldResult &result)
 Computes the result of a field.

void disableDegreesOfFreedom (bool translation, bool rotation)
 Activates or deactivates the degrees of freedom of the field.

void setAccelerationLimits (double maxAccel, double maxGradientDifference)
 Sets the acceleration limits.

void addRandomMotionGenerator (RandomMotionGenerator *randomMotionGenerator)
 Adds a random device to this field.

void addPathPlanner (PfieldAStarSearch *pathPlanner, bool useAlways, Object *goal, const PotentialfieldAStarParameterSet &parameterSet, double maxGradientLength)
 Adds a path planner to this a field.

PfVec getRandomVector ()
 Computes a random vector.

BehaviorFieldType getBehaviorFieldType () const
 Returns the type of the field.


Protected Member Functions

PfVec getFieldVecFromAStarSearch (const PfPose &pose)
 Computes a motion vector using A* search.

bool reachedLocalMinimum (double currentGradientLength)
 Checks if the field has reached a local minimum.

bool pathPlanningStillNeeded (const PfPose &pose)
 Checks if the path planner may be turned off.

void correctMotionVector (PfVec &motionVec) const
 Corrects computed motion vector considering maximum acceleration values.


Protected Attributes

bool translationDisabled
 Flag: translation is disabled or not.

bool rotationDisabled
 Flag: rotation is disabled or not.

double maxAccel
 Maximum acceleration in vector lengths per square second.

double maxGradientDifference
 Maximum difference to last gradient in radiant per second.

RandomMotionGenerator * randomMotionGenerator
 A pointer to a random motion generator.

PfieldAStarSearch * pathPlanner
 A pointer to an A* path planner.

PotentialfieldAStarParameterSet aStarParameterSet
 The parameter set for path planning.

bool alwaysUsePathPlanner
 Flag, true, if the pathPlanner is always used.

bool pathPlannerActive
 Flag, true if the pathPlanner is currently used.

Object * goal
 The goal for planning.

double plannedPathLengthToGoal
 The length of the path generated by the planner.

double maxGradientLengthForLocalMinimum
 The upper limit for the gradient length to detect a local minimum.

PfVec lastMotionVector
 The last computed motion vector.

Detailed Description

A class for computing a motion by using a potential field.

Definition at line 28 of file Motionfield.h.

Constructor & Destructor Documentation

Motionfield::Motionfield (  const std::string &  name  ) 
 

Constructor.

Definition at line 21 of file Motionfield.cpp.

References alwaysUsePathPlanner, lastMotionVector, pathPlanner, pathPlannerActive, randomMotionGenerator, rotationDisabled, translationDisabled, PfVec::x, and PfVec::y.

Motionfield::~Motionfield (   )  [virtual]
 

Destructor.

Definition at line 35 of file Motionfield.cpp.

References aStarParameterSet, pathPlanner, randomMotionGenerator, and PotentialfieldAStarParameterSet::stabilizationObject.

Member Function Documentation

void Motionfield::execute (  const PfPose &  pose,
PotentialfieldResult &  result
)  [virtual]
 

Computes the result of a field.

Parameters:
pose The pose on which the field affects
result The returned result

Implements Potentialfield.

Definition at line 52 of file Motionfield.cpp.

References PotentialfieldResult::actionPossible, alwaysUsePathPlanner, correctMotionVector(), CRITERION_CONST, CRITERION_GRADIENT, Potentialfield::getFieldVecAt(), getFieldVecFromAStarSearch(), lastMotionVector, PfVec::length(), PotentialfieldResult::motion, PfVec::normalize(), pathPlanner, pathPlannerActive, pathPlanningStillNeeded(), PfPose::pos, reachedLocalMinimum(), PfVec::rotate(), PfPose::rotation, rotationDisabled, PfPose::speed, PotentialfieldResult::subAction, translationDisabled, PotentialfieldResult::value, PfVec::x, and PfVec::y.

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void Motionfield::disableDegreesOfFreedom (  bool  translation,
bool  rotation
)  [inline]
 

Activates or deactivates the degrees of freedom of the field.

Parameters:
translation Deactivates translation if true
rotation Deactivates rotation if true

Definition at line 47 of file Motionfield.h.

References rotationDisabled, and translationDisabled.

Referenced by Parser::parseMotionfield().

void Motionfield::setAccelerationLimits (  double  maxAccel,
double  maxGradientDifference
)  [inline]
 

Sets the acceleration limits.

Parameters:
maxAccel The maximum acceleration per second
maxGradientDifference Maximum difference to last gradient in radiant per second

Definition at line 54 of file Motionfield.h.

Referenced by Parser::parseMotionfield().

void Motionfield::addRandomMotionGenerator (  RandomMotionGenerator *  randomMotionGenerator  )  [inline]
 

Adds a random device to this field.

Parameters:
randomMotionGenerator A random motion generator

Definition at line 60 of file Motionfield.h.

Referenced by Parser::parseMotionfield().

void Motionfield::addPathPlanner (  PfieldAStarSearch *  pathPlanner,
bool  useAlways,
Object *  goal,
const PotentialfieldAStarParameterSet &  parameterSet,
double  maxGradientLength
)  [inline]
 

Adds a path planner to this a field.

Parameters:
pathPlanner The path planner
useAlways Flag: use always the path planner, if true
goal The object to plan a path to
parameterSet The parameter set for path planning
maxGradientLength The maximum allowed gradient length for not using path planning

Definition at line 70 of file Motionfield.h.

References alwaysUsePathPlanner, aStarParameterSet, PotentialfieldAStarParameterSet::field, and maxGradientLengthForLocalMinimum.

Referenced by Parser::parseMotionfield().

PfVec Motionfield::getRandomVector (   )  [inline]
 

Computes a random vector.

Returns:
A random vector

Definition at line 85 of file Motionfield.h.

References RandomMotionGenerator::getMotionVector(), and randomMotionGenerator.

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BehaviorFieldType Motionfield::getBehaviorFieldType (   )  const [inline, virtual]
 

Returns the type of the field.

Returns:
The type

Implements Potentialfield.

Definition at line 96 of file Motionfield.h.

References BehaviorFieldType, and MOTION_FIELD.

PfVec Motionfield::getFieldVecFromAStarSearch (  const PfPose &  pose  )  [protected]
 

Computes a motion vector using A* search.

Parameters:
pose The beginning of the path
Returns:
A vector

Definition at line 108 of file Motionfield.cpp.

References aStarParameterSet, PotentialfieldAStarNode::getPose(), goal, PfPose::hasProbabilityDistribution, lastMotionVector, PfVec::normalize(), PotentialfieldAStarParameterSet::numberOfCalls, pathPlanner, plannedPathLengthToGoal, PfPose::pos, PfPose::probabilityDistribution, PfPose::rotation, AStarSearch< N, P, U >::search(), PotentialfieldAStarNode::setFunctionValues(), Object::setPose(), PotentialfieldAStarNode::setPose(), PotentialfieldAStarNode::setValueAtPos(), PotentialfieldAStarParameterSet::stabilizationDistance, PotentialfieldAStarParameterSet::stabilizationObject, PotentialfieldAStarParameterSet::standardGradientLength, PotentialfieldAStarParameterSet::startPosition, PotentialfieldAStarParameterSet::useStabilization, PfVec::x, and PfVec::y.

Referenced by execute().

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bool Motionfield::reachedLocalMinimum (  double  currentGradientLength  )  [protected]
 

Checks if the field has reached a local minimum.

Parameters:
currentGradientLength The length of the current gradient vector
Returns:
true, if a local minimum has been reached

Definition at line 142 of file Motionfield.cpp.

References maxGradientLengthForLocalMinimum.

Referenced by execute().

bool Motionfield::pathPlanningStillNeeded (  const PfPose &  pose  )  [protected]
 

Checks if the path planner may be turned off.

Parameters:
pose The beginning of the path
Returns:
false, if the path planner may be turned off

Definition at line 148 of file Motionfield.cpp.

References PfPose::addAbsVector(), aStarParameterSet, DEBUG_DRAWING_FINISHED, PotentialfieldAStarParameterSet::distanceToGoal, Potentialfield::getFieldVecAt(), PotentialfieldAStarParameterSet::minExpansionRadius, PfVec::normalize(), PotentialfieldAStarParameterSet::numberOfCalls, plannedPathLengthToGoal, and PfPose::pos.

Referenced by execute().

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void Motionfield::correctMotionVector (  PfVec &  motionVec  )  const [protected]
 

Corrects computed motion vector considering maximum acceleration values.

Parameters:
motionVec The vector to be corrected

Definition at line 176 of file Motionfield.cpp.

References getSystemTime(), lastMotionVector, PfVec::length(), maxAccel, PfVec::normalize(), and PotentialfieldResult::timeStamp.

Referenced by execute().

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Member Data Documentation

bool Motionfield::translationDisabled [protected]
 

Flag: translation is disabled or not.

Definition at line 101 of file Motionfield.h.

Referenced by disableDegreesOfFreedom(), execute(), and Motionfield().

bool Motionfield::rotationDisabled [protected]
 

Flag: rotation is disabled or not.

Definition at line 103 of file Motionfield.h.

Referenced by disableDegreesOfFreedom(), execute(), and Motionfield().

double Motionfield::maxAccel [protected]
 

Maximum acceleration in vector lengths per square second.

Definition at line 105 of file Motionfield.h.

Referenced by correctMotionVector().

double Motionfield::maxGradientDifference [protected]
 

Maximum difference to last gradient in radiant per second.

Definition at line 107 of file Motionfield.h.

RandomMotionGenerator* Motionfield::randomMotionGenerator [protected]
 

A pointer to a random motion generator.

Definition at line 109 of file Motionfield.h.

Referenced by getRandomVector(), Motionfield(), and ~Motionfield().

PfieldAStarSearch* Motionfield::pathPlanner [protected]
 

A pointer to an A* path planner.

Definition at line 111 of file Motionfield.h.

Referenced by execute(), getFieldVecFromAStarSearch(), Motionfield(), and ~Motionfield().

PotentialfieldAStarParameterSet Motionfield::aStarParameterSet [protected]
 

The parameter set for path planning.

Definition at line 113 of file Motionfield.h.

Referenced by addPathPlanner(), getFieldVecFromAStarSearch(), pathPlanningStillNeeded(), and ~Motionfield().

bool Motionfield::alwaysUsePathPlanner [protected]
 

Flag, true, if the pathPlanner is always used.

Definition at line 115 of file Motionfield.h.

Referenced by addPathPlanner(), execute(), and Motionfield().

bool Motionfield::pathPlannerActive [protected]
 

Flag, true if the pathPlanner is currently used.

Definition at line 117 of file Motionfield.h.

Referenced by execute(), and Motionfield().

Object* Motionfield::goal [protected]
 

The goal for planning.

Definition at line 119 of file Motionfield.h.

Referenced by getFieldVecFromAStarSearch().

double Motionfield::plannedPathLengthToGoal [protected]
 

The length of the path generated by the planner.

Definition at line 121 of file Motionfield.h.

Referenced by getFieldVecFromAStarSearch(), and pathPlanningStillNeeded().

double Motionfield::maxGradientLengthForLocalMinimum [protected]
 

The upper limit for the gradient length to detect a local minimum.

Definition at line 123 of file Motionfield.h.

Referenced by addPathPlanner(), and reachedLocalMinimum().

PfVec Motionfield::lastMotionVector [protected]
 

The last computed motion vector.

Definition at line 125 of file Motionfield.h.

Referenced by correctMotionVector(), execute(), getFieldVecFromAStarSearch(), and Motionfield().

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