libbot interface for smp More...
#include <libbot.h>
Public Member Functions | |
| int | set_planner (planner_t *planner_in) |
| Sets the planner. | |
| int | visualize_2d () |
| Sets visialization mode to 2D. | |
| int | visualize_3d () |
| Sets visialization mode to 3D. | |
| int | publish_environment (const environment_t &environment_in) |
| Publishes the given environment. | |
| int | publish_data () |
| Publishes the graph maintained by the planner. | |
| int | publish_trajectory (trajectory_t &trajectory_in) |
| Publishes a given trajectory. | |
libbot interface for smp
The libbot interface that publishes the appropriate messages containing the graph maintained by the planner or a given trajectory.
libbot_rrg_double_integrator.cpp, libbot_rrg_dubins_car.cpp, libbot_rrg_dubins_double_integrator_airplane.cpp, libbot_rrg_single_integrator.cpp, libbot_rrg_single_integrator_mu_calculus.cpp, libbot_rrt_double_integrator.cpp, libbot_rrt_dubins_car.cpp, libbot_rrt_dubins_double_integrator_airplane.cpp, libbot_rrt_single_integrator.cpp, libbot_rrtstar_double_integrator.cpp, libbot_rrtstar_dubins_car.cpp, libbot_rrtstar_dubins_double_integrator_airplane.cpp, libbot_rrtstar_single_integrator.cpp, libbot_rrtstar_single_integrator_halton.cpp, libbot_rrtstar_single_integrator_trajectory_biasing.cpp, and libbot_rrtstar_single_integrator_trajectory_biasing_and_bnb.cpp.
| int smp::interface_libbot< typeparams >::publish_data | ( | ) | [virtual] |
Publishes the graph maintained by the planner.
This function publishes the graph maintained by the planner.
Implements smp::interface_base< typeparams >.
| int smp::interface_libbot< typeparams >::publish_environment | ( | const environment_t & | environment_in | ) |
Publishes the given environment.
This function constructs the necessary lcm messages and publishes the environment given as an argument through the ENVIRONMENT channel, which is listened by the renderer_smp of the libbot/viewer.
| environment_in | The environment to be published. |
| int smp::interface_libbot< typeparams >::publish_trajectory | ( | trajectory_t & | trajectory | ) | [virtual] |
Publishes a given trajectory.
This function will send out the messages (of the development environment) containing the trajectory given as an argument.
| trajectory | The trajectory that will be published. |
Implements smp::interface_base< typeparams >.
| int smp::interface_libbot< typeparams >::set_planner | ( | planner_t * | planner_in | ) |
Sets the planner.
This function sets the planner variable to the new planner given as the argument.
| planner_in | The new planner |
| int smp::interface_libbot< typeparams >::visualize_2d | ( | ) |
Sets visialization mode to 2D.
This function sets the visualization mode to 2D. When the visualization mode is set to 2D, the planner projects all the data to the z = 0 plane, i.e., fills in the third dimension with zeros.
| int smp::interface_libbot< typeparams >::visualize_3d | ( | ) |
Sets visialization mode to 3D.
This function sets the visualization mode to 3D. When the visualization mode is set to 3D, third dimension in the data is taken into account. It is users responsibility to ensure that the data is in fact at least three dimensional.
