19 #ifndef HPP_RBPRM_DYNAMIC_PLANNER_HH 20 #define HPP_RBPRM_DYNAMIC_PLANNER_HH 22 #include <hpp/core/bi-rrt-planner.hh> 36 using core::Configuration_t;
38 using core::PathPtr_t;
41 using core::RoadmapPtr_t;
50 static DynamicPlannerPtr_t
create(core::ProblemConstPtr_t problem);
59 virtual const core::RoadmapPtr_t&
roadmap()
const {
return roadmap_; }
61 virtual core::PathVectorPtr_t
finishSolve(
const core::PathVectorPtr_t& path);
65 DynamicPlanner(core::ProblemConstPtr_t problem,
const RoadmapPtr_t& roadmap);
69 void init(
const DynamicPlannerWkPtr_t& weak);
77 void computeGIWC(
const core::NodePtr_t x, core::ValidationReportPtr_t report);
84 void computeGIWC(
const core::NodePtr_t x,
bool use_bestReport =
true);
87 const core::NodePtr_t& near,
88 const core::ConfigurationPtr_t& target,
89 bool reverse =
false);
92 core::ConfigurationPtr_t q_jump,
93 const core::ConfigurationPtr_t& target,
bool reverse,
94 core::NodePtr_t& x_jump, core::NodePtr_t& nodeReached,
95 core::PathPtr_t& kinoPath, core::PathPtr_t& paraPath);
97 core::PathPtr_t
extendParabola(
const core::ConfigurationPtr_t& from,
98 const core::ConfigurationPtr_t& target,
102 core::ConfigurationPtr_t qProj_;
103 DynamicPlannerWkPtr_t weakPtr_;
104 const core::RoadmapPtr_t roadmap_;
108 double sizeFootX_, sizeFootY_;
109 bool rectangularContact_;
116 #endif // HPP_RBPRM_DYNAMIC_PLANNER_HH
void init(const DynamicPlannerWkPtr_t &weak)
Store weak pointer to itself.
Definition: algorithm.hh:26
shared_ptr< SteeringMethodKinodynamic > SteeringMethodKinodynamicPtr_t
Definition: rbprm-steering-kinodynamic.hh:33
static DynamicPlannerPtr_t create(core::ProblemConstPtr_t problem)
Return shared pointer to new object.
void computeGIWC(const core::NodePtr_t x, core::ValidationReportPtr_t report)
computeGIWC compute the GIWC for the node configuration and fill the node attribut ...
Generic implementation of RRT algorithm.
Definition: dynamic-planner.hh:44
virtual void oneStep()
One step of extension.
HPP_PREDEF_CLASS(RbPrmFullBody)
shared_ptr< RbPrmPathValidation > RbPrmPathValidationPtr_t
Definition: rbprm-path-validation.hh:31
shared_ptr< DynamicPlanner > DynamicPlannerPtr_t
Definition: dynamic-planner.hh:34
virtual core::PathVectorPtr_t finishSolve(const core::PathVectorPtr_t &path)
core::PathPtr_t extendInternal(core::ConfigurationPtr_t &qProj_, const core::NodePtr_t &near, const core::ConfigurationPtr_t &target, bool reverse=false)
DynamicPlanner(core::ProblemConstPtr_t problem, const RoadmapPtr_t &roadmap)
Constructor.
static DynamicPlannerPtr_t createWithRoadmap(core::ProblemConstPtr_t problem, const RoadmapPtr_t &roadmap)
Return shared pointer to new object.
bool tryParabolaPath(const core::NodePtr_t &near, core::ConfigurationPtr_t q_jump, const core::ConfigurationPtr_t &target, bool reverse, core::NodePtr_t &x_jump, core::NodePtr_t &nodeReached, core::PathPtr_t &kinoPath, core::PathPtr_t ¶Path)
virtual const core::RoadmapPtr_t & roadmap() const
Definition: dynamic-planner.hh:59
core::PathPtr_t extendParabola(const core::ConfigurationPtr_t &from, const core::ConfigurationPtr_t &target, bool reverse)
shared_ptr< SteeringMethodParabola > SteeringMethodParabolaPtr_t
Definition: steering-method-parabola.hh:37
virtual void tryConnectInitAndGoals()