hpp-rbprm  4.12.0
Implementation of RB-PRM planner using hpp.
Path_optimization

Classes

class  hpp::rbprm::OrientedPathOptimizer
 
class  hpp::rbprm::RandomShortcutDynamic
 

Typedefs

typedef std::shared_ptr< OrientedPathOptimizerhpp::rbprm::OrientedPathOptimizerPtr_t
 
typedef std::shared_ptr< RandomShortcutDynamichpp::rbprm::RandomShortcutDynamicPtr_t
 

Functions

 hpp::rbprm::HPP_PREDEF_CLASS (OrientedPathOptimizer)
 
 hpp::rbprm::HPP_PREDEF_CLASS (RandomShortcutDynamic)
 

Detailed Description

Typedef Documentation

◆ OrientedPathOptimizerPtr_t

◆ RandomShortcutDynamicPtr_t

Function Documentation

◆ HPP_PREDEF_CLASS() [1/2]

hpp::rbprm::HPP_PREDEF_CLASS ( OrientedPathOptimizer  )

Oriented Path Optimizer

Optimizer that try to use OrientedKinodynamicPath along the computed path Only use oriented path if it's collision free and if the previous/next path can be adjusted to the new orientation

Note
The optimizer assumes that the input path is a vector of optimal paths for the distance function.

◆ HPP_PREDEF_CLASS() [2/2]

hpp::rbprm::HPP_PREDEF_CLASS ( RandomShortcutDynamic  )

Random shortcut dynamic

Path optimizer that iteratively samples random configurations along a path and that tries to connect these configurations by a call to the steering method.

Extend the original algorithm from hpp-core in order to take compute the dynamic constraints (friction cones) and verify the dynamic feasability

Note
The optimizer assumes that the input path is a vector of optimal paths for the distance function.