hpp-core  4.15.1
Implement basic classes for canonical path planning for kinematic chains.
hpp::core::pathPlanner::BiRrtStar Class Reference

#include <hpp/core/path-planner/bi-rrt-star.hh>

Inheritance diagram for hpp::core::pathPlanner::BiRrtStar:
Collaboration diagram for hpp::core::pathPlanner::BiRrtStar:

Public Types

typedef PathPlanner Parent_t
 

Public Member Functions

void startSolve ()
 
void oneStep ()
 One step of the algorithm. More...
 
- Public Member Functions inherited from hpp::core::PathPlanner
virtual ~PathPlanner ()
 
virtual const RoadmapPtr_troadmap () const
 Get roadmap. More...
 
ProblemConstPtr_t problem () const
 Get problem. More...
 
virtual PathVectorPtr_t solve ()
 
virtual void tryConnectInitAndGoals ()
 Try to connect initial and goal configurations to existing roadmap. More...
 
virtual PathVectorPtr_t finishSolve (const PathVectorPtr_t &path)
 Post processing of the resulting path. More...
 
void interrupt ()
 Interrupt path planning. More...
 
void maxIterations (const unsigned long int &n)
 Set maximal number of iterations. More...
 
void timeOut (const double &timeOut)
 set time out (in seconds) More...
 
void stopWhenProblemIsSolved (bool enable)
 
PathVectorPtr_t computePath () const
 Find a path in the roadmap and transform it in trajectory. More...
 

Static Public Member Functions

static BiRrtStarPtr_t create (const ProblemConstPtr_t &problem)
 
static BiRrtStarPtr_t createWithRoadmap (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
 

Protected Member Functions

 BiRrtStar (const ProblemConstPtr_t &problem)
 
 BiRrtStar (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
 
void init (const BiRrtStarWkPtr_t &weak)
 Store weak pointer to itself. More...
 
- Protected Member Functions inherited from hpp::core::PathPlanner
 PathPlanner (const ProblemConstPtr_t &problem)
 
 PathPlanner (const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
 
void init (const PathPlannerWkPtr_t &weak)
 Store weak pointer to itself. More...
 

Detailed Description

Bi-RRT* path planning algorithm as described in http://www.golems.org/papers/AkgunIROS11-sampling.pdf

Member Typedef Documentation

◆ Parent_t

Constructor & Destructor Documentation

◆ BiRrtStar() [1/2]

hpp::core::pathPlanner::BiRrtStar::BiRrtStar ( const ProblemConstPtr_t problem)
protected

Protected constructor

Parameters
problemthe path planning problem

◆ BiRrtStar() [2/2]

hpp::core::pathPlanner::BiRrtStar::BiRrtStar ( const ProblemConstPtr_t problem,
const RoadmapPtr_t roadmap 
)
protected

Protected constructor

Parameters
problemthe path planning problem
roadmappreviously built roadmap

Member Function Documentation

◆ create()

static BiRrtStarPtr_t hpp::core::pathPlanner::BiRrtStar::create ( const ProblemConstPtr_t problem)
static

Return shared pointer to new instance

Parameters
problemthe path planning problem

◆ createWithRoadmap()

static BiRrtStarPtr_t hpp::core::pathPlanner::BiRrtStar::createWithRoadmap ( const ProblemConstPtr_t problem,
const RoadmapPtr_t roadmap 
)
static

Return shared pointer to new instance

Parameters
problemthe path planning problem
roadmappreviously built roadmap

◆ init()

void hpp::core::pathPlanner::BiRrtStar::init ( const BiRrtStarWkPtr_t &  weak)
protected

Store weak pointer to itself.

◆ oneStep()

void hpp::core::pathPlanner::BiRrtStar::oneStep ( )
virtual

One step of the algorithm.

Implements hpp::core::PathPlanner.

◆ startSolve()

void hpp::core::pathPlanner::BiRrtStar::startSolve ( )
virtual

Initialize the problem resolution

  • call parent implementation

Reimplemented from hpp::core::PathPlanner.


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