#include <hpp/manipulation/symbolic-planner.hh>
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... | |
typedef std::list<std::size_t> hpp::manipulation::SymbolicPlanner::ErrorFreqs_t |
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protected |
Protected constructor.
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static |
Create an instance and return a shared pointer to the instance.
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static |
Get the list of possible outputs of the extension step.
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.
q_near | the configuration to be extended. |
q_rand | the configuration toward extension is performed. |
validPath | the longest valid path (possibly of length 0), resulting from the extension. |
status | an integer |
ErrorFreqs_t hpp::manipulation::SymbolicPlanner::getEdgeStat | ( | const graph::EdgePtr_t & | edge | ) | const |
Get the number of occurrence of each errors.
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protected |
Store weak pointer to itself.
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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.