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hpp::manipulation::SymbolicPlanner Class Reference

#include <hpp/manipulation/symbolic-planner.hh>

Inheritance diagram for hpp::manipulation::SymbolicPlanner:
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Collaboration diagram for hpp::manipulation::SymbolicPlanner:
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Classes

struct  ExtendStatus
 

Public Types

typedef std::list< std::size_t > ErrorFreqs_t
 

Public Member Functions

virtual void oneStep ()
 One step of extension. More...
 
bool extend (RoadmapNodePtr_t q_near, const ConfigurationPtr_t &q_rand, core::PathPtr_t &validPath, ExtendStatus &status)
 Extend configuration q_near toward q_rand. More...
 
ErrorFreqs_t getEdgeStat (const graph::EdgePtr_t &edge) const
 Get the number of occurrence of each errors. More...
 

Static Public Member Functions

static SymbolicPlannerPtr_t create (const core::Problem &problem, const core::RoadmapPtr_t &roadmap)
 Create an instance and return a shared pointer to the instance. More...
 
static StringList_t errorList ()
 Get the list of possible outputs of the extension step. More...
 

Protected Member Functions

 SymbolicPlanner (const Problem &problem, const RoadmapPtr_t &roadmap)
 Protected constructor. More...
 
void init (const SymbolicPlannerWkPtr_t &weak)
 Store weak pointer to itself. More...
 

Member Typedef Documentation

typedef std::list<std::size_t> hpp::manipulation::SymbolicPlanner::ErrorFreqs_t

Constructor & Destructor Documentation

hpp::manipulation::SymbolicPlanner::SymbolicPlanner ( const Problem problem,
const RoadmapPtr_t roadmap 
)
protected

Protected constructor.

Member Function Documentation

static SymbolicPlannerPtr_t hpp::manipulation::SymbolicPlanner::create ( const core::Problem problem,
const core::RoadmapPtr_t roadmap 
)
static

Create an instance and return a shared pointer to the instance.

static StringList_t hpp::manipulation::SymbolicPlanner::errorList ( )
static

Get the list of possible outputs of the extension step.

See Also
ManipulationPlanner::getEdgeStat
bool hpp::manipulation::SymbolicPlanner::extend ( RoadmapNodePtr_t  q_near,
const ConfigurationPtr_t q_rand,
core::PathPtr_t validPath,
ExtendStatus status 
)

Extend configuration q_near toward q_rand.

Parameters
q_nearthe configuration to be extended.
q_randthe configuration toward extension is performed.
Return values
validPaththe longest valid path (possibly of length 0), resulting from the extension.
statusan integer
Returns
True if the returned path is valid.
ErrorFreqs_t hpp::manipulation::SymbolicPlanner::getEdgeStat ( const graph::EdgePtr_t edge) const

Get the number of occurrence of each errors.

See Also
ManipulationPlanner::errorList
void hpp::manipulation::SymbolicPlanner::init ( const SymbolicPlannerWkPtr_t &  weak)
protected

Store weak pointer to itself.

virtual void hpp::manipulation::SymbolicPlanner::oneStep ( )
virtual

One step of extension.

A set of constraints is chosen using the graph of constraints. A constraint extension is done using a chosen set.

Implements hpp::core::PathPlanner.